#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"
-
-
-#define PRUM_PROUD 2061
-#define PRUM_SOUC 6183
-#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
#define PRIOR_LOW 20
#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 INIT_VALUE 1 /*init value for semaphor*/
-#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;
-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;
+struct rpi_in data;
+struct rpi_state rps={
+ .spi_dat=&data,
+ .test=0,
+ .pwm1=0,.pwm2=0, .pwm3=0,
+ .pwm1=0, .t_pwm2=0, .t_pwm3=0,
+ .commutate=0,
+ .duty=0, /* duty cycle of pwm */
+ .index_dist=0, /* distance to index position */
+ .index_ok=0,
+ .tf_count=0, /*number of transfer*/
+ .desired_pos=0, /* desired position */
+ .pos_reg_ena=0,
+ .desired_spd=0,
+ .spd_reg_ena=0
+};
/**
* \brief Initilizes GPCLK.
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
*/
-void sighnd_fnc(){
+void appl_stop(){
spi_disable();
clk_disable();
/*muzeme zavrit semafor*/
- sem_destroy(&thd_par_sem);
+ sem_destroy(&rps.thd_par_sem);
printf("\nprogram bezpecne ukoncen\n");
- exit(0);
}
void substractOffset(struct rpi_in* data, struct rpi_in* offset){
return;
}
/*
- * pocita procentualni odchylku od prumerneho proudu
+ * \brief
+ * Transformace pro uhel pocitany po smeru hodinovych rucicek
*/
-float diff_p(float value){
- return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
+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;
}
-/*
- * pocita procentualni odchylku od prumerneho souctu proudu
- */
-float diff_s(float value){
- return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
+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;
}
/*
- * tiskne potrebna data
+ * \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 printData(){
- struct rpi_in data_p;
- struct rpi_state s; /*state*/
- float cur0, cur1, cur2;
- int i;
- /* 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_p.debug_rx[i]);
- }
- puts("");
- 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 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){
* Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
*/
void * pos_monitor(void* param){
- set_priority(param); /*set priority*/
while(1){
- printData();
+ printData(&rps);
usleep(1000000); /*1 Hz*/
}
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;
+}
inline
int sin_commutator(int duty){
#define DEGREE_60 715827883
#define DEGREE_300 3579139413
uint32_t j,pos;
int32_t sin;
- uint16_t pwm;
- pos=rps.index_dist*4294967;
+ 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=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;
+ 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=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;
+ 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=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;
+ 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=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;
+ 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=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;
+ 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=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;
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ rps.pwm3=(uint16_t)pwm;
}
return 0;
}
}
}
/**
- * Funkce pravidelne vycita data z motoru
+ * \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
*/
-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;
+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
* 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){
/*
* \brief
* Feedback loop.
+ * TODO: replace bunch of 'IFs' with Object-like pattern
*/
void * read_data(void* param){
int i;
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 */
while(1){
/* wait until next shot */
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
- sem_wait(&thd_par_sem); /*---take semaphore---*/
+ sem_wait(&rps.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);
- 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*/
}
- pid();
+ /* pocitame sirku plneni podle potreb rizeni*/
+ if (rps.pos_reg_ena){
+ pos_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);
}
- sem_post(&thd_par_sem); /*--post semaphore---*/
+ sem_post(&rps.thd_par_sem); /*--post semaphore---*/
/* calculate next shot */
t.tv_nsec += interval;
}
}
+
+
/**
* \brief Main function.
*/
int main(){
- unsigned int tmp;
-
- /*nastaveni priorit vlaken*/
- struct thread_param tsp;
- tsp.sch_policy = SCHED_FIFO;
-
- /*nastaveni signalu pro vypnuti pomoci Ctrl+C*/
- sighnd.sa_handler=&sighnd_fnc;
- sigaction(SIGINT, &sighnd, NULL );
-
+ pthread_t base_thread_id;
clk_init(); /* inicializace gpio hodin */
spi_init(); /* iniicializace spi*/
/*semafor pro detekci zpracovani parametru vlaken*/
- sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
+ sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
+ setup_environment();
- /*vlakna*/
- pthread_t tid; /*identifikator vlakna*/
- pthread_attr_t attr; /*atributy vlakna*/
- pthread_attr_init(&attr); /*inicializuj implicitni atributy*/
+ base_thread_id=pthread_self();
+ /*main control loop*/
+ create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
+ /*monitor of current state*/
+ create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
- /*ziskavani dat z motoru*//*vysoka priorita*/
- tsp.sch_prior = PRIOR_HIGH;
- pthread_create(&tid, &attr, read_data, (void*)&tsp);
+ /*wait for commands*/
+ poll_cmd(&rps);
- /*vypisovani lokalni pozice*//*nizka priorita*/
- tsp.sch_prior = PRIOR_LOW;
- sem_wait(&thd_par_sem);
- pthread_create(&tid, &attr, pos_monitor, (void*)&tsp);
-
-
-
- /*
- * Note:
- * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
- * k preukladani hodnot na promenne test. Dost divne.
- */
- while (1){
- scanf("%u",&tmp);
- printf("volba=%u\n",tmp);
- switch (tmp){
- case 1:
- scanf("%u",&tmp);
- sem_wait(&thd_par_sem);
- rps.pwm1=tmp&0xFFF;
- sem_post(&thd_par_sem);
- break;
- case 2:
- scanf("%u",&tmp);
- sem_wait(&thd_par_sem);
- rps.pwm2=tmp&0xFFF;
- sem_post(&thd_par_sem);
- break;
- case 3:
- scanf("%u",&tmp);
- sem_wait(&thd_par_sem);
- rps.pwm3=tmp&0xFFF;
- sem_post(&thd_par_sem);
- break;
- case 4:
- 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:
- break;
- }
-
- }
return 0;
}
-
projects / fpga / rpi-motor-control.git / blobdiff