X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/34c6632a92d19c06bbdef9dcc4eb754b21ade81d..f747a68dd84aab260a8553829ae5da1ee4bf321a:/pmsm-control/test_sw/commutators.c

diff --git a/pmsm-control/test_sw/commutators.c b/pmsm-control/test_sw/commutators.c
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+/**
+ * \brief
+ * Implementation of commutators and transformations.
+ */
+
+#include "commutators.h"
+#include "pxmc_sin_fixed.h"	/*sinus function*/
+
+/*
+ * \brief
+ * Computes minimum value of three numbers.
+ * Input values must be in range <-2^28;2^28>.
+ */
+static 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
+ * Transformace pro uhel pocitany po smeru hodinovych rucicek
+ */
+static 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;
+}
+
+/**
+ * \brief
+ * Zpetna Clarkova transformace
+ */
+static 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
+ */
+static 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;
+}
+
+/**
+ * \brief
+ * Simple vector-control commutator without delta-transformation.
+ * Nearly same as sin_commuatator.
+ */
+void inv_trans_comm(struct rpi_state* this){
+	uint32_t pos;
+	int32_t sin, cos;
+	int32_t alpha, beta;
+	int32_t pwma,pwmb,pwmc;
+	pos=this->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,this->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;
+
+	/*debugovaci vystupy - pouze vypisy hodnot*/
+	this->t_pwm1=(uint16_t)pwma;
+	this->t_pwm3=(uint16_t)pwmb;
+	this->t_pwm2=(uint16_t)pwmc;
+}
+
+/*
+ * \brief
+ * Robust vector-control commuator with Delta-transformation.
+ */
+void inv_trans_comm_2(struct rpi_state* this){
+	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=this->index_dist;
+
+	pos+=this->alpha_offset; /*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,this->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);
+
+	this->pwm1=(uint16_t)u1;
+	this->pwm2=(uint16_t)u2;
+	this->pwm3=(uint16_t)u3;
+}
+
+/**
+ * \brief
+ * Simple voltage commutation, takes use of sin finction.
+ */
+void sin_commutator(struct rpi_state* this){
+	#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;
+	int32_t pwm;
+	int duty=this->duty;
+	pos=this->index_dist;
+	/*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
+	pos+=38;
+	/*use it as cyclic 32-bit logic*/
+	pos*=4294967;
+	if (this->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;
+                this->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;
+                this->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;
+                this->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;
+		this->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;
+                this->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;
+                this->pwm3=(uint16_t)pwm;
+        }
+}
+
+/*
+ * \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,
+ */
+void simple_ind_dist_commutator(struct rpi_state* this){
+	int duty=this->duty;
+	uint16_t index_dist=this->index_dist;
+	if (duty>=0){ /* clockwise - so that position increase */
+		/* pwm3 */
+		if ((index_dist>=45 && index_dist<=373) ||
+		(index_dist>=1048 && index_dist<=1377)){
+			this->pwm1=0;
+			this->pwm2=0;
+			this->pwm3=duty;
+			/* pwm1 */
+		}else if ((index_dist>=373 && index_dist<=711) ||
+		(index_dist>=1377 && index_dist<=1711)){
+			this->pwm1=duty;
+			this->pwm2=0;
+			this->pwm3=0;
+			/* pwm2 */
+		}else if ((index_dist>=0 && index_dist<=45) ||
+		(index_dist>=711 && index_dist<=1048) ||
+		(index_dist>=1711 && index_dist<=1999)){
+			this->pwm1=0;
+			this->pwm2=duty;
+			this->pwm3=0;
+		}
+	}else{	/*counter-clockwise - position decrease */
+		/* pwm3 */
+		if ((index_dist>=544 && index_dist<=881) ||
+		(index_dist>=1544 && index_dist<=1878)){
+			this->pwm1=0;
+			this->pwm2=0;
+			this->pwm3=-duty;
+			/* pwm1 */
+		}else if ((index_dist>=0 && index_dist<=211) ||
+		(index_dist>=881 && index_dist<=1210) ||
+		(index_dist>=1878 && index_dist<=1999)){
+			this->pwm1=-duty;
+			this->pwm2=0;
+			this->pwm3=0;
+			/* pwm2 */
+		}else if ((index_dist>=211 && index_dist<=544) ||
+		(index_dist>=1210 && index_dist<=1544)){
+			this->pwm1=0;
+			this->pwm2=-duty;
+			this->pwm3=0;
+		}
+	}
+}
+
+/*
+ * \brief
+ * Test function to be placed in controll loop.
+ * Switches PWM's at point where they produce same force
+ */
+void simple_hall_commutator(struct rpi_state* this){
+	int duty=this->duty;
+	int8_t hal1=this->spi_dat->hal1;
+	int8_t hal2=this->spi_dat->hal2;
+	int8_t hal3=this->spi_dat->hal3;
+	if (duty>=0){ /* clockwise - so that position increase */
+		/* pwm3 */
+		if (hal2 && !hal3){
+			this->pwm1=0;
+			this->pwm2=0;
+			this->pwm3=duty;
+			/* pwm1 */
+		}else if (hal1 && !hal2){
+			this->pwm1=duty;
+			this->pwm2=0;
+			this->pwm3=0;
+			/* pwm2 */
+		}else if (!hal1 && hal3){
+			this->pwm1=0;
+			this->pwm2=duty;
+			this->pwm3=0;
+		}
+	}else{	/*counter-clockwise - position decrease */
+		/* pwm3 */
+		if (!hal2 && hal3){
+			this->pwm1=0;
+			this->pwm2=0;
+			this->pwm3=-duty;
+			/* pwm1 */
+		}else if (!hal1 && hal2){
+			this->pwm1=-duty;
+			this->pwm2=0;
+			this->pwm3=0;
+			/* pwm2 */
+		}else if (hal1 && !hal3){
+			this->pwm1=0;
+			this->pwm2=-duty;
+			this->pwm3=0;
+		}
+	}
+}