PI reg. constants modified according rltool results. Added possibility to interactive...

[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 3d13ff28a484b11ea43c62f6d61b7287d26ff4e5..e4ec9acf6623716c9f3dd840b4d12a94710c1f66 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -27,8 +27,14 @@
 
 
 #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
+
+/*     RL-tool results from first order system approx  */
+/*     P=0.16 I=13,4/freq=0.013                        */
+/*     Hodnoty upraveny podle skutecnych vysledku      */
+/*     P=0.8   I=0.01                                  */
+
+#define PID_P_S                0.16            /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
+#define PID_I_S                0.0134
 
 #define PRIOR_KERN     50
 #define PRIOR_HIGH     49
@@ -57,7 +63,11 @@ struct rpi_state rps={
        .desired_spd=0,
        .spd_reg_ena=0,
        .old_pos={0},
-       .spd_err_sum=0
+       .spd_err_sum=0,
+       .log_col_count=0,       /* pocet radku zaznamu */
+       .log_col=0,
+       .doLogs=0,
+       .alpha_offset=960
 };
 
 /**
@@ -95,6 +105,63 @@ int32_t min(int32_t x, int32_t y, int32_t z){
 
         return x;
 }
+
+/*
+ * \brief
+ * Free logs
+ */
+void freeLogs(){
+       int r;
+       if (rps.log_col_count){
+               for (r=0;r<LOG_ROWS;r++){
+                       free(rps.logs[r]);
+               }
+       }
+       rps.log_col_count=0;
+       rps.doLogs=0;
+}
+
+/*
+ * \brief
+ * Makes log.
+ */
+void makeLog(){
+       int r;
+       if (rps.log_col==MAX_LOGS-1){
+               rps.doLogs=0;
+               return;
+       }
+       rps.logs[0][rps.log_col]=(int)rps.tf_count;
+       rps.logs[1][rps.log_col]=(int)rps.spi_dat->pozice;
+
+       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;
+                       }
+               }
+        }
+     */
+}
+
 /*
  * \brief
  * Pripravi psi buffer
@@ -177,6 +244,7 @@ void appl_stop(){
 
        spi_disable();
        clk_disable();
+       freeLogs();
        /*muzeme zavrit semafor*/
        sem_destroy(&rps.thd_par_sem);
         printf("\nprogram bezpecne ukoncen\n");
@@ -257,7 +325,7 @@ void inv_trans_comm_2(int duty){
        int32_t u1,u2,u3;
        pos=rps.index_dist;
 
-       pos+=960; /*zarovnani faze 'a' s osou 'alpha'*/
+       pos+=rps.alpha_offset; /*zarovnani faze 'a' s osou 'alpha'*/
 
        /*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
        pos*=4294967;
@@ -623,6 +691,12 @@ void * read_data(void* param){
                        }else if(!rps.index_ok && rps.commutate){
                                simple_hall_commutator(rps.duty);
                        }
+
+                       /*zalogujeme hodnoty*/
+                       if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
+                               makeLog();
+                       }
+
                        sem_post(&rps.thd_par_sem);             /*--post semaphore---*/
 
                        /* calculate next shot */