X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/567c062529d0595b8ea1c52e16ad2cc1ed7579b0..1a8d767b097d1536b264d8bae3e9d5c16617f835:/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 20e6417..4ae245b 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -24,10 +24,8 @@
 #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
@@ -41,7 +39,21 @@
 
 
 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.
@@ -60,6 +72,24 @@ int clk_init()
 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
@@ -78,64 +108,97 @@ 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(&rps.thd_par_sem);
-	data_p = data;
-	s=rps;
-	sem_post(&rps.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=%u\n",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){
 
@@ -202,7 +265,7 @@ void prepare_tx(uint8_t * tx){
  */
 void * pos_monitor(void* param){
 	while(1){
-		printData();
+		printData(&rps);
 		usleep(1000000); 	/*1 Hz*/
 	}
 	return (void*)0;
@@ -439,7 +502,7 @@ void comIndDist(){
  * 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){
@@ -453,6 +516,7 @@ inline void pid(){
 /*
  * \brief
  * Feedback loop.
+ * TODO: replace bunch of 'IFs' with Object-like pattern
  */
 void * read_data(void* param){
 	int i;
@@ -475,19 +539,28 @@ void * read_data(void* param){
 			/*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*/
+			}
+			/* pocitame sirku plneni podle potreb rizeni*/
+			if (rps.pos_reg_ena){
+				pos_pid();
 			}
-			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);
 			}