Correction.

[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 cbc687979bba0521b9580a81c1bb5d322e382eb7..26e83089f0ead662a149ba3c1879fcd44ddb28cd 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -143,7 +143,7 @@ void printData(){
        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=%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);
@@ -233,7 +233,20 @@ void * pos_monitor(void* param){
        }
        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;
+}
 inline
 int sin_commutator(int duty){
        #define DEGREE_60        715827883
@@ -243,64 +256,33 @@ int sin_commutator(int duty){
        #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;
+                rps.pwm1=mult_cap(sin, duty);
 
                 /* 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;
+                rps.pwm2=mult_cap(sin, duty);
 
                 /* 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;
+                rps.pwm3=mult_cap(sin, duty);
         }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;
+                rps.pwm1=mult_cap(sin, duty);
 
                 /* 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;
+                rps.pwm2=mult_cap(sin, duty);
 
                 /* 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;
+                rps.pwm3=mult_cap(sin, duty);
         }
         return 0;
 }
@@ -399,15 +381,66 @@ inline void simple_hall_commutator(int duty){
        }
 }
 /**
- * Funkce pravidelne vycita data z motoru
+ * \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
  */
-inline void comIndDist(){
-       rps.index_dist=0x0FFF & (data.pozice_raw - data.index_position);
-       /*
-        * if distance is bigger than 2047, the distance underflown
-        * -> if 12th bit is set, substract 2096
-        */
-       rps.index_dist-=((rps.index_dist & 0x0800)>>11)*2096;
+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