Controll loop now more complex.

[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 da278cc00301873121087a9b2ec648e36386b7b5..4ae245b099f497af63c331fea9c32431b20852bb 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -24,8 +24,8 @@
 #include "pmsm_state.h"
 #include "cmd_proc.h"
 
-#define MAX_DUTY       128
-#define PID_P          0.1
+#define MAX_DUTY       170
+#define PID_P          0.3
 
 #define PRIOR_KERN     50
 #define PRIOR_HIGH     49
@@ -41,7 +41,6 @@
 struct rpi_in data;
 struct rpi_state rps={
        .spi_dat=&data,
-       .thd_par_sem=NULL,
        .test=0,
        .pwm1=0,.pwm2=0, .pwm3=0,
        .pwm1=0, .t_pwm2=0, .t_pwm3=0,
@@ -50,7 +49,10 @@ struct rpi_state rps={
        .index_dist=0,          /* distance to index position */
        .index_ok=0,
        .tf_count=0,            /*number of transfer*/
-       .desired_pos=0          /* desired position */
+       .desired_pos=0,         /* desired position */
+       .pos_reg_ena=0,
+       .desired_spd=0,
+       .spd_reg_ena=0
 };
 
 /**
@@ -70,6 +72,24 @@ int clk_init()
 inline void clk_disable(){
        termClock(0);
 }
+/*
+ * \brief
+ * Count minimum value of three numbers.
+ * Input values must be in range <-2^28;2^28>.
+ */
+int32_t min(int32_t x, int32_t y, int32_t z){
+        int32_t diff,sign;
+
+        diff=x-y; /*rozdil*/
+        sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze y je vetsi*/
+        x=y+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
+
+        diff=x-z; /*rozdil*/
+        sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze z je vetsi*/
+        x=z+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
+
+        return x;
+}
 
 /**
  * \brief Signal handler pro Ctrl+C
@@ -87,8 +107,99 @@ void substractOffset(struct rpi_in* data, struct rpi_in* offset){
        data->pozice-=offset->pozice;
        return;
 }
+/*
+ * \brief
+ * Transformace pro uhel pocitany po smeru hodinovych rucicek
+ */
+void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int32_t cos){
+       *alpha=cos*d+sin*q;
+       *beta=-sin*d+cos*q;
+       return;
+}
+void alphabeta2pwm3(int32_t * ia, int32_t * ib, int32_t *ic,int32_t alpha, int32_t beta){
+       *ia=alpha;
+       *ib=-alpha/2+beta*887/1024;
+       *ic=-alpha/2-beta*887/1024;
+}
+/*
+ * \brief
+ * Preocita napeti na jednotlivych civkach na napeti,
+ *     ktera budou privedena na svorky motoru.
+ *     Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
+ */
+void transDelta(int32_t * u1, int32_t * u2, int32_t *u3, int32_t ub , int32_t uc){
+       int32_t t;
+
+       /*vypocte napeti tak, aby odpovidaly rozdily*/
+       *u1=uc;
+       *u2=uc+ub;
+       *u3=0;
+
+       /*najde zaporne napeti*/
+       t=min(*u1,*u2,*u3);
+
+       /*dorovna zaporna napeti na nulu*/
+       *u1-=t;
+       *u2-=t;
+       *u3-=t;
+}
+void inv_trans_comm(int duty){
+       uint32_t pos;
+       int32_t sin, cos;
+       int32_t alpha, beta;
+       int32_t pwma,pwmb,pwmc;
+       pos=rps.index_dist;
+       /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
+       pos+=717;
+       /*use it as cyclic 32-bit logic*/
+       pos*=4294967;
+       pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
+       dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
+       alpha>>=16;
+       beta>>=16;
+       alphabeta2pwm3(&pwma,&pwmb, &pwmc,alpha,beta);
+
+       if (pwma<0) pwma=0;
+       if (pwmb<0) pwmb=0;
+       if (pwmc<0) pwmc=0;
+
+
+       rps.t_pwm1=(uint16_t)pwma;
+       rps.t_pwm3=(uint16_t)pwmb;
+       rps.t_pwm2=(uint16_t)pwmc;
+}
+
+void inv_trans_comm_2(int duty){
+       uint32_t pos;
+       int32_t sin, cos;
+       int32_t alpha, beta;
+       int32_t ua,ub,uc;
+       int32_t ia,ib,ic;
+       int32_t u1,u2,u3;
+       pos=rps.index_dist;
 
+       pos+=960; /*zarovnani faze 'a' s osou 'alpha'*/
 
+       /*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
+       pos*=4294967;
+       pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
+
+       dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
+       alpha>>=16;
+       beta>>=16;
+
+       alphabeta2pwm3(&ia,&ib, &ic,alpha,beta);
+
+       ua=ia;
+       ub=ib;
+       uc=ic;
+
+       transDelta(&u1,&u2, &u3,ub,uc);
+
+       rps.pwm1=(uint16_t)u1;
+       rps.pwm2=(uint16_t)u2;
+       rps.pwm3=(uint16_t)u3;
+}
 void prepare_tx(uint8_t * tx){
 
        /*Data format:
@@ -391,7 +502,7 @@ void comIndDist(){
  * 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(){
+inline void pos_pid(){
        int duty_tmp;
        duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
        if (duty_tmp>MAX_DUTY){
@@ -405,6 +516,7 @@ inline void pid(){
 /*
  * \brief
  * Feedback loop.
+ * TODO: replace bunch of 'IFs' with Object-like pattern
  */
 void * read_data(void* param){
        int i;
@@ -427,19 +539,28 @@ void * read_data(void* param){
                        /*subtract initiate postion */
                        rps.tf_count++;
                        substractOffset(&data,&pocatek);
-                       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;
+                                       comIndDist();   /*vypocet vzdalenosti indexu*/
                                }
+                       }else{ /*index je v poradku*/
+                               comIndDist();           /*vypocet vzdalenosti indexu*/
+                       }
+                       /* pocitame sirku plneni podle potreb rizeni*/
+                       if (rps.pos_reg_ena){
+                               pos_pid();
                        }
-                       pid();
+                       /* sirka plneni prepoctena na jednotlive pwm */
                        if (rps.index_ok && rps.commutate){
                                /*simple_ind_dist_commutator(rps.duty);*/
-                               sin_commutator(rps.duty);
+                               /*sin_commutator(rps.duty);*/
+                               inv_trans_comm(rps.duty);
+                               inv_trans_comm_2(rps.duty);
                        }else if(!rps.index_ok && rps.commutate){
                                simple_hall_commutator(rps.duty);
                        }