Speed, index and position computations moved to separate file.

[fpga/rpi-motor-control.git] / pmsm-control / test_sw / comp.c

diff --git a/pmsm-control/test_sw/comp.c b/pmsm-control/test_sw/comp.c
new file mode 100644 (file)
index 0000000..49d3546
--- /dev/null
+++ b/pmsm-control/test_sw/comp.c
@@ -0,0 +1,108 @@
+/**
+ * \brief
+ * Computatations of position, index, speed.
+ *
+ */
+
+#include "comp.h"
+#include "pmsm_state.h"
+#include "rp_spi.h"
+
+/**
+ * \brief
+ * Substact initial position.
+ */
+void substractOffset(struct rpi_in* data, struct rpi_in* offset){
+       data->pozice=data->pozice_raw-offset->pozice_raw;
+       return;
+}
+
+/*
+ * \brief
+ * Multiplication of 11 bit
+ * Zaporne vysledky prvede na nulu.
+ */
+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(struct rpi_state* this){
+       uint16_t pos = 0x0FFF & this->spi_dat->pozice_raw;
+       uint16_t dist;
+       uint16_t index = this->spi_dat->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;
+               }
+       }
+
+       this->index_dist = dist;
+       return;
+
+       index_lost:
+               this->index_ok=0;
+               return;
+}
+
+
+/*
+ * \brief
+ * Computate speed.
+ */
+void compSpeed(struct rpi_state* this){
+       signed long int spd;
+       spd=this->spi_dat->pozice-this->old_pos[this->tf_count%OLD_POS_NUM];
+       this->speed=(int32_t)spd;
+}