#include "cmd_proc.h"
#include "controllers.h"
#include "commutators.h"
-
-
-
+#include "comp.h"
+#include "logs.h"
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
termClock(0);
}
-
-/*
- * \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
- */
-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
- * .
- * .
- * Unused
- * .
- * .
- * bits 47 .. 32 - match PWM1
- * bits 31 .. 16 - match PWM2
- * bits 15 .. 0 - match PWM3
- */
-
-
- uint16_t tmp;
-
- /* 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]=rps.test; /*bit 94 - enable PWM1*/
-
- /*now we have to switch the bytes due to endianess */
- /* ARMv6 & ARMv7 instructions are little endian */
- /*pwm1*/
- tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
- tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
-
- /*pwm2*/
- tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
- tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
-
- /*pwm3*/
- tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
- tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
-
-
-}
-
-
/**
* \brief Signal handler pro Ctrl+C
*/
rps.pwm1=0;
rps.pwm2=0;
rps.pwm3=0;
- prepare_tx(tx); /*save the data to send*/
- data=spi_read(tx);
+ spi_read(&rps);
spi_disable();
clk_disable();
- freeLogs();
+ freeLogs(&rps);
/*muzeme zavrit semafor*/
sem_destroy(&rps.thd_par_sem);
printf("\nprogram bezpecne ukoncen\n");
}
-void substractOffset(struct rpi_in* data, struct rpi_in* offset){
- data->pozice=data->pozice_raw-offset->pozice_raw;
- return;
-}
-
-
-
/**
* Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
*/
}
return (void*)0;
}
-/*
- * \brief
- * Multiplication of 11 bit
- * Zaporne vysledky prvede na nulu.
- */
-inline uint16_t mult_cap(int32_t s,int d){
- int j;
- int res=0;
- for(j=0;j!=11;j++){
- /* multiplicate as if maximum sinus value was unity */
- res+=(!(s & 0x10000000))*(((1 << j) & s)>>j)*(d>>(10-j));
- }
- return res;
-}
-
-
-/**
- * \brief
- * Computation of distance to index.
- *
- * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu
- * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu -
- * to je 3999 bodu
- * =>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate
- * signalu indexu
- */
-void comIndDist(){
- uint16_t pos = 0x0FFF & data.pozice_raw;
- uint16_t dist;
- uint16_t index = data.index_position;
-
- if (index<1999){ /*index e<0,1998> */
- if (pos<index){ /*pozice e<0,index-1> */
- /*proti smeru h.r. od indexu*/
- dist=pos+2000-index;
- }else if (pos<=index+1999){ /*pozice e<index,index+1999> */
- /*po smeru h.r. od indexu*/
- dist=pos-index;
- }else if (pos<index+2096){ /*pozice e<index+2000,index+2095> */
- goto index_lost;
- }else{ /*pozice e<index+2096,4095> */
- /*proti smeru h.r. od indexu - podtecena pozice*/
- dist=pos-index-2096;
- }
- }else if (index<=2096){ /*index e<1999,2096>*/
- if (pos<index-1999){ /*pozice e<0,index-2000> */
- goto index_lost;
- }else if (pos<index){ /*pozice e<index-1999,index-1> */
- /*proti smeru h.r. od indexu*/
- dist=pos+2000-index;
- }else if (pos<=index+1999){ /*pozice e<index,index+1999> */
- /*po smeru h.r. od indexu*/
- dist=pos-index;
- }else { /*pozice e<index+2000,4095> */
- goto index_lost;
- }
- }else{ /*index e<2097,4095> */
- if (pos<=index-2097){ /*pozice e<0,index-2097> */
- /*po smeru h.r. od indexu - pretecena pozice*/
- dist=4096+pos-index;
- }else if (pos<index-1999){ /*pozice e<index-2096,index-2000> */
- goto index_lost;
- }else if (pos<index){ /*pozice e<index-1999,index-1> */
- /*proti smeru h.r. od indexu*/
- dist=pos+2000-index;
- }else{ /*pozice e<index,4095> */
- /*po smeru h.r. od indexu*/
- dist=pos-index;
- }
- }
-
- rps.index_dist = dist;
- return;
-
- index_lost:
- rps.index_ok=0;
- return;
-}
-
-
-/*
- * \brief
- * Computate speed.
- */
-void compSpeed(){
- signed long int spd;
- spd=rps.spi_dat->pozice-rps.old_pos[rps.tf_count%OLD_POS_NUM];
- rps.speed=(int32_t)spd;
-}
/*
* \brief
void * read_data(void* param){
int i;
struct rpi_in pocatek;
+ struct rpi_state poc={
+ .spi_dat=&pocatek,
+ .test=0,
+ .pwm1=0, .pwm1=0, .pwm3=0
+ };
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*/
- pocatek = spi_read(tx);
+ spi_read(&poc); /*pocatecni informace*/
clock_gettime(CLOCK_MONOTONIC ,&t);
/* start after one second */
t.tv_sec++;
/*old positions*/
rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
- prepare_tx(tx); /*save the data to send*/
- data = spi_read(tx); /*exchange data*/
+ spi_read(&rps); /*exchange data*/
/*subtract initiate postion */
rps.tf_count++;
- substractOffset(&data,&pocatek);
- compSpeed(); /*spocita rychlost*/
+ substractOffset(&data,poc.spi_dat);
+ compSpeed(&rps); /*spocita rychlost*/
if (!rps.index_ok){
if (first){
first=0;
}else if (last_index!=data.index_position){
rps.index_ok=1;
- comIndDist(); /*vypocet vzdalenosti indexu*/
+ comIndDist(&rps); /*vypocet vzdalenosti indexu*/
}
}else{ /*index je v poradku*/
- comIndDist(); /*vypocet vzdalenosti indexu*/
+ comIndDist(&rps); /*vypocet vzdalenosti indexu*/
}
/* pocitame sirku plneni podle potreb rizeni*/
/*zalogujeme hodnoty*/
if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
- makeLog();
+ makeLog(&rps);
}
sem_post(&rps.thd_par_sem); /*--post semaphore---*/
projects / fpga / rpi-motor-control.git / blobdiff