X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/0bed16505e1c8bc5de08c08ff05c36607130f218..694d7155f582476ae9c042258e98fc867eb6b1ba:/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 7f66662..56b926a 100644
--- 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
@@ -113,10 +113,10 @@ void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int3
 	*beta=-sin*d+cos*q;
 	return;
 }
-void alphabeta2pwm3(int32_t * pwma, int32_t * pwmb, int32_t *pwmc,int32_t alpha, int32_t beta){
-	*pwma=alpha;
-	*pwmb=-alpha/2+beta*887/1024;
-	*pwmc=-alpha/2-beta*887/1024;
+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
@@ -124,27 +124,21 @@ void alphabeta2pwm3(int32_t * pwma, int32_t * pwmb, int32_t *pwmc,int32_t alpha,
  * 	ktera budou privedena na svorky motoru.
  * 	Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
  */
-void compPhases(int32_t * pwm1, int32_t * pwm2, int32_t *pwm3, int32_t ua , int32_t ub){
-	int32_t u1,u2,u3;
+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=ua+ub;
-	u2=ua;
-	u3=0;
+	*u1=uc;
+	*u2=uc+ub;
+	*u3=0;
 
 	/*najde zaporne napeti*/
-	t=min(u1,u2,u3);
-
-	/*dorovna zaporna napeti napeti na nulu*/
-	u1-=t;
-	u2-=t;
-	u3-=t;
-
-	*pwm1=u1;
-	*pwm2=u2;
-	*pwm3=u3;
+	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;
@@ -176,24 +170,32 @@ void inv_trans_comm_2(int duty){
 	uint32_t pos;
 	int32_t sin, cos;
 	int32_t alpha, beta;
-	int32_t pwma,pwmb,pwmc;
-	int32_t pwm1,pwm2,pwm3;
+	int32_t ua,ub,uc;
+	int32_t ia,ib,ic;
+	int32_t u1,u2,u3;
 	pos=rps.index_dist;
-	/*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
-	pos+=460;
-	/*use it as cyclic 32-bit logic*/
+
+	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(&pwma,&pwmb, &pwmc,alpha,beta);
 
-	compPhases(&pwm1,&pwm2, &pwm3,pwma,pwmb);
+	alphabeta2pwm3(&ia,&ib, &ic,alpha,beta);
+
+	ua=ia;
+	ub=ib;
+	uc=ic;
+
+	transDelta(&u1,&u2, &u3,ub,uc);
 
-	rps.pwm1=(uint16_t)pwm1;
-	rps.pwm2=(uint16_t)pwm2;
-	rps.pwm3=(uint16_t)pwm3;
+	rps.pwm1=(uint16_t)u1;
+	rps.pwm2=(uint16_t)u2;
+	rps.pwm3=(uint16_t)u3;
 }
 void prepare_tx(uint8_t * tx){