#include "rpin.h" /*gpclk*/
#include "rp_spi.h" /*spi*/
#include "misc.h" /*structure for priorities*/
-#include "pxmc_sin_fixed.h" /*to test sin commutation */
#include "pmsm_state.h"
#include "cmd_proc.h"
+#include "controllers.h"
+#include "commutators.h"
+
-#define PID_P 0.3
-#define PID_P_S 0.9 /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
-#define PID_I_S 0.01
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
struct rpi_in data;
struct rpi_state rps={
+ //.MAX_DUTY=170,
.spi_dat=&data,
.test=0,
.pwm1=0,.pwm2=0, .pwm3=0,
.spd_err_sum=0,
.log_col_count=0, /* pocet radku zaznamu */
.log_col=0,
- .doLogs=0
+ .doLogs=0,
+ .alpha_offset=960
};
/**
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
rps.logs[0][rps.log_col]=(int)rps.tf_count;
rps.logs[1][rps.log_col]=(int)rps.spi_dat->pozice;
- rps.log_col++;
+ rps.logs[2][rps.log_col]=(int)rps.pwm1;
+ rps.logs[3][rps.log_col]=(int)rps.pwm2;
+ rps.logs[4][rps.log_col]=(int)rps.pwm3;
+ rps.logs[5][rps.log_col]=rps.duty;
+ rps.logs[6][rps.log_col]=rps.desired_spd;
+ rps.logs[7][rps.log_col]=rps.speed;
+
+ rps.logs[8][rps.log_col]=(int)(rps.spi_dat->ch1/rps.spi_dat->adc_m_count);
+ rps.logs[9][rps.log_col]=(int)(rps.spi_dat->ch2/rps.spi_dat->adc_m_count);
+ rps.logs[10][rps.log_col]=(int)(rps.spi_dat->ch0/rps.spi_dat->adc_m_count);
+
+ rps.log_col++;
+ /*
if (rps.log_col==rps.log_col_count-1){
rps.log_col_count*=2;
rps.log_col_count%=MAX_LOGS;
for (r=0;r<LOG_ROWS;r++){
rps.logs[r]=realloc(rps.logs[r],rps.log_col_count*sizeof(int));
+ if (rps.logs[r]==NULL){
+ rps.doLogs=0;
+ rps.error=1;
+ }
}
}
+ */
}
/*
data->pozice=data->pozice_raw-offset->pozice_raw;
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;
-}
/**
* Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
}
return res;
}
-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;
- pos=rps.index_dist;
- int32_t pwm;
- /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
- pos+=38;
- /*use it as cyclic 32-bit logic*/
- pos*=4294967;
- if (duty>=0){ /*clockwise rotation*/
- /* 1st phase */
- sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
- pwm=sin*duty/1024;
- if (pwm<0) pwm=0;
- rps.pwm1=(uint16_t)pwm;
-
- /* 2nd phase */
- sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
- pwm=sin*duty/1024;
- if (pwm<0) pwm=0;
- rps.pwm2=(uint16_t)pwm;
-
- /* 3rd phase */
- sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
- pwm=sin*duty/1024;
- if (pwm<0) pwm=0;
- rps.pwm3=(uint16_t)pwm;
- }else{
- duty=-duty;
-
- /* 1st phase */
- sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
- pwm=sin*duty/1024;
- if (pwm<0) pwm=0;
- rps.pwm1=(uint16_t)pwm;
-
- /* 2nd phase */
- sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
- pwm=sin*duty/1024;
- if (pwm<0) pwm=0;
- rps.pwm2=(uint16_t)pwm;
-
- /* 3rd phase */
- sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
- pwm=sin*duty/1024;
- if (pwm<0) pwm=0;
- rps.pwm3=(uint16_t)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;
- }
- }
-}
+
+
/**
* \brief
* Computation of distance to index.
rps.index_ok=0;
return;
}
-/*
- * \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 pos_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
- * Very simple PID regulator.
- * Now only with P-part so that the error doesnt go to zero.
- * FIXME: make better
- */
-inline void spd_pid(){
- int duty_tmp;
- int error;
- error=rps.desired_spd - rps.speed;
- rps.spd_err_sum+=error;
- duty_tmp = PID_P_S*error+PID_I_S*rps.spd_err_sum;
- 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
/* pocitame sirku plneni podle potreb rizeni*/
if (rps.pos_reg_ena){ /*pozicni rizeni*/
- pos_pid();
+ pos_pid(&rps);
}else if(rps.spd_reg_ena){ /*rizeni na rychlost*/
- spd_pid();
+ 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.duty);
- inv_trans_comm_2(rps.duty);
+ inv_trans_comm(&rps);
+ inv_trans_comm_2(&rps);
}else if(!rps.index_ok && rps.commutate){
- simple_hall_commutator(rps.duty);
+ simple_hall_commutator(&rps);
}
/*zalogujeme hodnoty*/
projects / fpga / rpi-motor-control.git / blobdiff