#include <sched.h> /*sheduler*/
#include <unistd.h> /*usleep*/
#include <pthread.h> /*threads*/
+#include <time.h> /*nanosleep*/
#include "rpin.h" /*gpclk*/
#include "rp_spi.h" /*spi*/
#include "misc.h" /*structure for priorities*/
+#include "pxmc_sin_fixed.h" /*to test sin commutation */
+
#define PRUM_PROUD 2061
#define PRUM_SOUC 6183
+#define MAX_DUTY 128
+#define PID_P 0.1
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
#define THREAD_SHARED 0
#define INIT_VALUE 0 /*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 sigaction sighnd; /*struktura pro signal handler*/
struct rpi_in data;
-
-uint8_t test;
-uint16_t pwm1, pwm2, pwm3;
+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;
/**
void sighnd_fnc(){
spi_disable();
clk_disable();
+ /*muzeme zavrit semafor*/
+ sem_destroy(&thd_par_sem);
printf("\nprogram bezpecne ukoncen\n");
exit(0);
}
/*
* tiskne potrebna data
*/
-void printData(struct rpi_in data){
+void printData(){
+ struct rpi_in data_p;
+ struct rpi_state s; /*state*/
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;
+ /* 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.debug_rx[i]);
+ printf("%.2X ", data_p.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("\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 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){
* bit 89 - shutdown3
* .
* .
+ * Unused
* .
- * bits 66 .. 56 - match PWM1
- * bits 55 .. 45 - match PWM2
- * bit 11,12 - Unused
- * bits 42 .. 32 - match PWM3
+ * .
+ * bits 47 .. 32 - match PWM1
+ * bits 31 .. 16 - match PWM2
+ * bits 15 .. 0 - match PWM3
*/
uint16_t tmp;
- /* keep the cap*/
- if (pwm1>2047) pwm1=2047;
- if (pwm2>2047) pwm2=2047;
- if (pwm3>2047) pwm3=2047;
+ /* keep the 11-bit cap*/
+
+ if (rps.pwm1>2047) rps.pwm1=2047;
+ if (rps.pwm2>2047) rps.pwm2=2047;
+ if (rps.pwm3>2047) rps.pwm3=2047;
- tx[0]=test; /*bit 94 - enable PWM1*/
+ tx[0]=rps.test; /*bit 94 - enable PWM1*/
+ /*now we have to switch the bytes due to endianess */
+ /* ARMv6 & ARMv7 instructions are little endian */
/*pwm1*/
- tx[7]=(tx[7] & 0xF8) | (0x07 & ((uint8_t*)&pwm1)[1]); /*MSB*/
- tx[8]=((uint8_t*)&pwm1)[0]; /*LSB*/
+ tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
+ tx[11]=((uint8_t*)&rps.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*/
+ tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
+ tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
/*pwm3*/
- tx[10]=(tx[10] & 0xF8) | (0x07 & ((uint8_t*)&pwm3)[1]); /*MSB*/
- tx[11]=((uint8_t*)&pwm3)[0]; /*LSB*/
+ tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
+ tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
}
void * pos_monitor(void* param){
set_priority(param); /*set priority*/
while(1){
- printData(data);
+ printData();
usleep(1000000); /*1 Hz*/
}
return (void*)0;
}
+inline
+int sin_commutator(int duty){
+ #define DEGREE_60 715827883
+ #define DEGREE_120 1431655765
+ #define DEGREE_180 2147483648
+ #define DEGREE_240 2863311531
+ #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;
+
+ /* 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;
+
+ /* 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;
+ }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;
+
+ /* 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;
+
+ /* 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;
+ }
+ return 0;
+}
+/*
+ * \brief
+ * Test function to be placed in controll loop.
+ * Switches PWM's at point where they produce same force.
+ * This points are found thanks to IRC position,
+ */
+inline
+void simple_ind_dist_commutator(int duty){
+ if (duty>=0){ /* clockwise - so that position increase */
+ /* pwm3 */
+ if ((rps.index_dist>=45 && rps.index_dist<=373) ||
+ (rps.index_dist>=1048 && rps.index_dist<=1377)){
+ rps.pwm1=0;
+ rps.pwm2=0;
+ rps.pwm3=duty;
+ /* pwm1 */
+ }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
+ (rps.index_dist>=1377 && rps.index_dist<=1711)){
+ rps.pwm1=duty;
+ rps.pwm2=0;
+ rps.pwm3=0;
+ /* pwm2 */
+ }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
+ (rps.index_dist>=711 && rps.index_dist<=1048) ||
+ (rps.index_dist>=1711 && rps.index_dist<=1999)){
+ rps.pwm1=0;
+ rps.pwm2=duty;
+ rps.pwm3=0;
+ }
+ }else{ /*counter-clockwise - position decrease */
+ /* pwm3 */
+ if ((rps.index_dist>=544 && rps.index_dist<=881) ||
+ (rps.index_dist>=1544 && rps.index_dist<=1878)){
+ rps.pwm1=0;
+ rps.pwm2=0;
+ rps.pwm3=-duty;
+ /* pwm1 */
+ }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
+ (rps.index_dist>=881 && rps.index_dist<=1210) ||
+ (rps.index_dist>=1878 && rps.index_dist<=1999)){
+ rps.pwm1=-duty;
+ rps.pwm2=0;
+ rps.pwm3=0;
+ /* pwm2 */
+ }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
+ (rps.index_dist>=1210 && rps.index_dist<=1544)){
+ rps.pwm1=0;
+ rps.pwm2=-duty;
+ rps.pwm3=0;
+ }
+ }
+}
+/*
+ * \brief
+ * Test function to be placed in controll loop.
+ * Switches PWM's at point where they produce same force
+ */
+inline void simple_hall_commutator(int duty){
+ if (duty>=0){ /* clockwise - so that position increase */
+ /* pwm3 */
+ if (data.hal2 && !data.hal3){
+ rps.pwm1=0;
+ rps.pwm2=0;
+ rps.pwm3=duty;
+ /* pwm1 */
+ }else if (data.hal1 && !data.hal2){
+ rps.pwm1=duty;
+ rps.pwm2=0;
+ rps.pwm3=0;
+ /* pwm2 */
+ }else if (!data.hal1 && data.hal3){
+ rps.pwm1=0;
+ rps.pwm2=duty;
+ rps.pwm3=0;
+ }
+ }else{ /*counter-clockwise - position decrease */
+ /* pwm3 */
+ if (!data.hal2 && data.hal3){
+ rps.pwm1=0;
+ rps.pwm2=0;
+ rps.pwm3=-duty;
+ /* pwm1 */
+ }else if (!data.hal1 && data.hal2){
+ rps.pwm1=-duty;
+ rps.pwm2=0;
+ rps.pwm3=0;
+ /* pwm2 */
+ }else if (data.hal1 && !data.hal3){
+ rps.pwm1=0;
+ rps.pwm2=-duty;
+ rps.pwm3=0;
+ }
+ }
+}
/**
* Funkce pravidelne vycita data z motoru
*/
+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;
+}
+/*
+ * \brief
+ * Very simple PID regulator.
+ * Now only with P-part so that the error doesnt go to zero.
+ * TODO: add anti-wind up and I and D parts
+ */
+inline void pid(){
+ int duty_tmp;
+ duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
+ if (duty_tmp>MAX_DUTY){
+ rps.duty=MAX_DUTY;
+ }else if (duty_tmp<-MAX_DUTY){
+ rps.duty=-MAX_DUTY;
+ }else{
+ rps.duty = duty_tmp;
+ }
+}
+/*
+ * \brief
+ * Feedback loop.
+ */
void * read_data(void* param){
int i;
struct rpi_in pocatek;
+ struct timespec t;
+ int interval = 1000000; /* 1ms ~ 1kHz*/
uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
+ char first=1;
+ uint16_t last_index; /*we have index up-to date*/
set_priority(param); /*set priority*/
pocatek = spi_read(tx);
+ clock_gettime(CLOCK_MONOTONIC ,&t);
+ /* start after one second */
+ t.tv_sec++;
while(1){
- prepare_tx(tx);
- data = spi_read(tx);
+ /* wait until next shot */
+ clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
+ sem_wait(&thd_par_sem); /*---take semaphore---*/
+ prepare_tx(tx); /*save the data to send*/
+ data = spi_read(tx); /*exchange data*/
+ /*subtract initiate postion */
+ rps.tf_count++;
substractOffset(&data,&pocatek);
- usleep(1000); /*1kHz*/
+ comIndDist();
+ if (!rps.index_ok){
+ if (first){
+ last_index=data.index_position;
+ first=0;
+ }else if (last_index!=data.index_position){
+ rps.index_ok=1;
+ }
+ }
+ pid();
+ if (rps.index_ok && rps.commutate){
+ /*simple_ind_dist_commutator(rps.duty);*/
+ sin_commutator(rps.duty);
+ }else if(!rps.index_ok && rps.commutate){
+ simple_hall_commutator(rps.duty);
+ }
+ sem_post(&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++;
+ }
+
}
}
*/
int main(){
- uint16_t tmp;
+ unsigned int tmp;
/*nastaveni priorit vlaken*/
struct thread_param tsp;
/*vypisovani lokalni pozice*//*nizka priorita*/
tsp.sch_prior = PRIOR_LOW;
+ sem_wait(&thd_par_sem);
pthread_create(&tid, &attr, pos_monitor, (void*)&tsp);
- /*muzeme zavrit semafor*/
- sem_destroy(&thd_par_sem);
+ /*
+ * Note:
+ * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
+ * k preukladani hodnot na promenne test. Dost divne.
+ */
while (1){
scanf("%u",&tmp);
- printf("volba=%x\n",tmp);
+ printf("volba=%u\n",tmp);
switch (tmp){
case 1:
- scanf("%u",&pwm1);
+ scanf("%u",&tmp);
+ sem_wait(&thd_par_sem);
+ rps.pwm1=tmp&0xFFF;
+ sem_post(&thd_par_sem);
break;
case 2:
- scanf("%u",&pwm2);
+ scanf("%u",&tmp);
+ sem_wait(&thd_par_sem);
+ rps.pwm2=tmp&0xFFF;
+ sem_post(&thd_par_sem);
break;
case 3:
- scanf("%u",&pwm3);
+ scanf("%u",&tmp);
+ sem_wait(&thd_par_sem);
+ rps.pwm3=tmp&0xFFF;
+ sem_post(&thd_par_sem);
break;
case 4:
- scanf("%u",&test);
+ 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:
}
return 0;
}
+
projects / fpga / rpi-motor-control.git / blobdiff