X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/534ec7b705dc81c66501a108dc864256ef32651f..44c23daa6e0d5d35e892b79684b239c1a0e67f25:/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 4a03c3a..5759c97 100644 --- a/pmsm-control/test_sw/main_pmsm.c +++ b/pmsm-control/test_sw/main_pmsm.c @@ -19,6 +19,8 @@ #include "rpin.h" /*gpclk*/ #include "rp_spi.h" /*spi*/ #include "misc.h" /*structure for priorities*/ +#include "pxmc_sin_fixed.h" /*to test sin commutation */ + #define PRUM_PROUD 2061 @@ -33,11 +35,27 @@ #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 PXMC_SIN_FIX_PI2 0x40000000 +#define PXMC_SIN_FIX_2PI3 0x55555555 + 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 */ @@ -125,13 +143,14 @@ void printData(){ 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("distance to index=%u\n",s.index_dist); 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)); @@ -177,6 +196,7 @@ void prepare_tx(uint8_t * tx){ uint16_t tmp; /* keep the cap*/ + if (rps.pwm1>2047) rps.pwm1=2047; if (rps.pwm2>2047) rps.pwm2=2047; if (rps.pwm3>2047) rps.pwm3=2047; @@ -210,13 +230,85 @@ void * pos_monitor(void* param){ } return (void*)0; } + +inline +int sin_commutator(int duty){ + #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; + uint16_t pwm; + pos=rps.index_dist*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; + + /* 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; + + /* 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; + }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; + + /* 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; + + /* 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; + } + return 0; +} /* * \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, */ -inline void simple_ind_dist_commutator(int duty){ +inline +void simple_ind_dist_commutator(int duty){ if (duty>=0){ /* clockwise - so that position increase */ /* pwm3 */ if ((rps.index_dist>=45 && rps.index_dist<=373) || @@ -363,7 +455,8 @@ void * read_data(void* param){ } pid(); if (rps.index_ok && rps.commutate){ - simple_ind_dist_commutator(rps.duty); + /*simple_ind_dist_commutator(rps.duty);*/ + sin_commutator(rps.duty); }else if(!rps.index_ok && rps.commutate){ simple_hall_commutator(rps.duty); }