#include <sched.h> /*sheduler*/
#include <unistd.h> /*usleep*/
#include <pthread.h> /*threads*/
+#include <time.h> /*nanosleep*/
+#include <string.h>
#include "rpin.h" /*gpclk*/
#include "rp_spi.h" /*spi*/
#include "misc.h" /*structure for priorities*/
-
-
-#define PRUM_PROUD 2061
-#define PRUM_SOUC 6183
+#include "pmsm_state.h"
+#include "cmd_proc.h"
+#include "controllers.h"
+#include "commutators.h"
+#include "comp.h"
+#include "logs.h"
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
#define PRIOR_LOW 20
#define THREAD_SHARED 0
-#define INIT_VALUE 0 /*init value for semaphor*/
+#define INIT_VALUE 1 /*init value for semaphor*/
-struct sigaction sighnd; /*struktura pro signal handler*/
-struct rpi_in data;
-uint8_t test;
-uint16_t pwm1, pwm2, pwm3;
+#define NSEC_PER_SEC (1000000000) /* The number of nsecs per sec. */
+
+
+struct rpi_in data;
+struct rpi_state rps={
+ //.MAX_DUTY=170,
+ .spi_dat=&data,
+ .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 */
+ .pos_reg_ena=0,
+ .desired_spd=0,
+ .spd_reg_ena=0,
+ .old_pos={0},
+ .spd_err_sum=0,
+ .log_col_count=0, /* pocet radku zaznamu */
+ .log_col=0,
+ .doLogs=0,
+ .alpha_offset=960
+};
/**
gpioSetMode(4, FSEL_ALT0);
return 0;
}
-/*
- * \brief Terminates GPCLK.
- */
-
-inline void clk_disable(){
- termClock(0);
-}
/**
* \brief Signal handler pro Ctrl+C
*/
-void sighnd_fnc(){
+void appl_stop(){
+ uint8_t tx[16];
+ sem_wait(&rps.thd_par_sem);
+
+ memset(tx,0,16*sizeof(int));
+ rps.pwm1=0;
+ rps.pwm2=0;
+ rps.pwm3=0;
+ spi_read(&rps);
+
spi_disable();
- clk_disable();
+ termClock(0);
+ freeLogs(&rps);
+ /*muzeme zavrit semafor*/
+ sem_destroy(&rps.thd_par_sem);
printf("\nprogram bezpecne ukoncen\n");
- exit(0);
-}
-
-void substractOffset(struct rpi_in* data, struct rpi_in* offset){
- data->pozice_raw=data->pozice;
- 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){
- float cur0, cur1, cur2;
- int i;
- if (data.adc_m_count){
- cur0=data.ch0/data.adc_m_count;
- cur1=data.ch1/data.adc_m_count;
- cur2=data.ch2/data.adc_m_count;
- }
- for (i = 0; i < 16; i++) {
- if (!(i % 6))
- puts("");
- printf("%.2X ", data.debug_rx[i]);
- }
- puts("");
- printf("\npozice=%d\n",(int32_t)data.pozice);
- printf("raw_pozice=%d\n",(int32_t)data.pozice_raw);
- printf("raw_pozice last11=%u\n",(data.pozice_raw&0x7FF));
- printf("index position=%d\n",(int16_t)data.index_position);
- printf("hal1=%d, hal2=%d, hal3=%d\n",data.hal1,data.hal2,data.hal3);
- printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&test),!!(0x20&test),!!(0x10&test));
- printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&test),!!(0x04&test),!!(0x02&test));
- printf("PWM1=%u(L.s.)\n",pwm1);
- printf("PWM2=%u(L.s.)\n",pwm2);
- printf("PWM3=%u(L.s.)\n",pwm3);
- printf("Pocet namerenych proudu=%u\n",data.adc_m_count);
- printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data.ch1,cur1,diff_p(cur1));
- printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch2,cur2,diff_p(cur2));
- printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch0,cur0,diff_p(cur0));
- printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
-}
-void prepare_tx(uint8_t * tx){
-
- /*Data format:
- * tx[4] - bity 95 downto 88 - bits that are sent first
- * tx[5] - bity 87 downto 80
- * tx[6] - bity 79 downto 72
- * tx[7] - bity 71 downto 64
- * tx[8] - bity 63 downto 56
- * tx[9] - bity 55 downto 48
- * tx[10] - bity 47 downto 40
- * tx[11] - bity 39 downto 32
- * tx[12] - bity 31 downto 24
- * tx[13] - bity 23 downto 16
- * tx[14] - bity 15 downto 8
- * tx[15] - bity 7 downto 0
- *
- * bit 95 - ADC reset
- * bit 94 - enable PWM1
- * bit 93 - enable PWM2
- * bit 92 - enable PWM3
- * bit 91 - shutdown1
- * bit 90 - shutdown2
- * bit 89 - shutdown3
- * .
- * .
- * .
- * bits 66 .. 56 - match PWM1
- * bits 55 .. 45 - match PWM2
- * bit 11,12 - Unused
- * bits 42 .. 32 - match PWM3
- */
-
-
- uint16_t tmp;
-
- /* keep the cap*/
- if (pwm1>2047) pwm1=2047;
- if (pwm2>2047) pwm2=2047;
- if (pwm3>2047) pwm3=2047;
-
- tx[0]=test; /*bit 94 - enable PWM1*/
-
- /*pwm1*/
- tx[7]=(tx[7] & 0xF8) | (0x07 & ((uint8_t*)&pwm1)[1]); /*MSB*/
- tx[8]=((uint8_t*)&pwm1)[0]; /*LSB*/
-
- /*pwm2*/
- tmp=pwm2;
- tmp<<=5;
- tx[9]=((uint8_t*)&tmp)[1]; /*MSB*/
- tx[10]=(tx[10] & 0x1F) | (0xE0 & ((uint8_t*)&tmp)[0]); /*LSB*/
-
- /*pwm3*/
- tx[10]=(tx[10] & 0xF8) | (0x07 & ((uint8_t*)&pwm3)[1]); /*MSB*/
- tx[11]=((uint8_t*)&pwm3)[0]; /*LSB*/
-
-}
/**
* Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
*/
void * pos_monitor(void* param){
- set_priority(param); /*set priority*/
while(1){
- printData(data);
+ printData(&rps);
usleep(1000000); /*1 Hz*/
}
return (void*)0;
}
-/**
- * Funkce pravidelne vycita data z motoru
+/*
+ * \brief
+ * Feedback loop.
+ * TODO: replace bunch of 'IFs' with Object-like pattern
*/
void * read_data(void* param){
int i;
struct rpi_in pocatek;
- uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
- set_priority(param); /*set priority*/
- pocatek = spi_read(tx);
+ struct rpi_state poc={
+ .spi_dat=&pocatek,
+ .test=0,
+ .pwm1=0, .pwm1=0, .pwm3=0
+ };
+ struct timespec t;
+ int interval = 1000000; /* 1ms ~ 1kHz*/
+ char first=1;
+ uint16_t last_index; /*we have index up-to date*/
+ spi_read(&poc); /*pocatecni informace*/
+ clock_gettime(CLOCK_MONOTONIC ,&t);
+ /* start after one second */
+ t.tv_sec++;
while(1){
- prepare_tx(tx);
- data = spi_read(tx);
- substractOffset(&data,&pocatek);
- usleep(1000); /*1kHz*/
+ /* wait until next shot */
+ clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
+ sem_wait(&rps.thd_par_sem); /*---take semaphore---*/
+
+ /*old positions*/
+ rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
+ spi_read(&rps); /*exchange data*/
+ /*subtract initiate postion */
+ rps.tf_count++;
+ substractOffset(&data,poc.spi_dat);
+ compSpeed(&rps); /*spocita rychlost*/
+
+ if (!rps.index_ok){
+ if (first){
+ last_index=data.index_position;
+ first=0;
+ }else if (last_index!=data.index_position){
+ rps.index_ok=1;
+ comIndDist(&rps); /*vypocet vzdalenosti indexu*/
+ }
+ }else{ /*index je v poradku*/
+ comIndDist(&rps); /*vypocet vzdalenosti indexu*/
+ }
+
+ /* pocitame sirku plneni podle potreb rizeni*/
+ if (rps.pos_reg_ena){ /*pozicni rizeni*/
+ pos_pid(&rps);
+ }else if(rps.spd_reg_ena){ /*rizeni na rychlost*/
+ spd_pid(&rps);
+ }
+
+ /* sirka plneni prepoctena na jednotlive pwm */
+ if (rps.index_ok && rps.commutate){
+ /*simple_ind_dist_commutator(rps.duty);*/
+ /*sin_commutator(rps.duty);*/
+ inv_trans_comm(&rps);
+ inv_trans_comm_2(&rps);
+ }else if(!rps.index_ok && rps.commutate){
+ simple_hall_commutator(&rps);
+ }
+
+ /*zalogujeme hodnoty*/
+ if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
+ makeLog(&rps);
+ }
+
+ sem_post(&rps.thd_par_sem); /*--post semaphore---*/
+
+ /* calculate next shot */
+ t.tv_nsec += interval;
+
+ while (t.tv_nsec >= NSEC_PER_SEC) {
+ t.tv_nsec -= NSEC_PER_SEC;
+ t.tv_sec++;
+ }
+
}
}
/**
* \brief Main function.
*/
-
int main(){
- uint16_t tmp;
-
- /*nastaveni priorit vlaken*/
- struct thread_param tsp;
- tsp.sch_policy = SCHED_FIFO;
-
- /*nastaveni signalu pro vypnuti pomoci Ctrl+C*/
- sighnd.sa_handler=&sighnd_fnc;
- sigaction(SIGINT, &sighnd, NULL );
-
+ pthread_t base_thread_id;
clk_init(); /* inicializace gpio hodin */
spi_init(); /* iniicializace spi*/
/*semafor pro detekci zpracovani parametru vlaken*/
- sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
-
- /*vlakna*/
- pthread_t tid; /*identifikator vlakna*/
- pthread_attr_t attr; /*atributy vlakna*/
- pthread_attr_init(&attr); /*inicializuj implicitni atributy*/
+ sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
+ setup_environment();
+ base_thread_id=pthread_self();
+ /*main control loop*/
+ create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
- /*ziskavani dat z motoru*//*vysoka priorita*/
- tsp.sch_prior = PRIOR_HIGH;
- pthread_create(&tid, &attr, read_data, (void*)&tsp);
+ /*monitor of current state*/
+ create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
- /*vypisovani lokalni pozice*//*nizka priorita*/
- tsp.sch_prior = PRIOR_LOW;
- pthread_create(&tid, &attr, pos_monitor, (void*)&tsp);
+ /*wait for commands*/
+ poll_cmd(&rps);
-
- /*muzeme zavrit semafor*/
- sem_destroy(&thd_par_sem);
-
- while (1){
- scanf("%u",&tmp);
- printf("volba=%x\n",tmp);
- switch (tmp){
- case 1:
- scanf("%u",&pwm1);
- break;
- case 2:
- scanf("%u",&pwm2);
- break;
- case 3:
- scanf("%u",&pwm3);
- break;
- case 4:
- scanf("%u",&test);
- break;
-
- default:
- break;
- }
-
- }
return 0;
}
projects / fpga / rpi-motor-control.git / blobdiff