X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/567c062529d0595b8ea1c52e16ad2cc1ed7579b0..85772a932e99215c8c86d92feb203ee928df0e5f:/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..dd2372d 100644 --- a/pmsm-control/test_sw/main_pmsm.c +++ b/pmsm-control/test_sw/main_pmsm.c @@ -16,6 +16,7 @@ #include /*usleep*/ #include /*threads*/ #include /*nanosleep*/ +#include #include "rpin.h" /*gpclk*/ #include "rp_spi.h" /*spi*/ @@ -24,10 +25,9 @@ #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 PID_P 0.3 +#define PID_P_S 0.7 #define PRIOR_KERN 50 #define PRIOR_HIGH 49 @@ -41,7 +41,22 @@ 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, + .old_pos={0} +}; /** * \brief Initilizes GPCLK. @@ -60,83 +75,28 @@ int clk_init() inline void clk_disable(){ termClock(0); } - -/** - * \brief Signal handler pro Ctrl+C - */ -void appl_stop(){ - spi_disable(); - clk_disable(); - /*muzeme zavrit semafor*/ - sem_destroy(&rps.thd_par_sem); - printf("\nprogram bezpecne ukoncen\n"); -} - -void substractOffset(struct rpi_in* data, struct rpi_in* offset){ - data->pozice_raw=data->pozice; - data->pozice-=offset->pozice; - return; -} /* - * pocita procentualni odchylku od prumerneho proudu - */ -float diff_p(float value){ - return ((float)value-PRUM_PROUD)*100/PRUM_PROUD; -} -/* - * pocita procentualni odchylku od prumerneho souctu proudu + * \brief + * Count minimum value of three numbers. + * Input values must be in range <-2^28;2^28>. */ -float diff_s(float value){ - return ((float)value-PRUM_SOUC)*100/PRUM_SOUC; +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; } /* - * tiskne potrebna data + * \brief + * Pripravi psi buffer */ -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 prepare_tx(uint8_t * tx){ /*Data format: @@ -197,12 +157,133 @@ void prepare_tx(uint8_t * tx){ } + + +/** + * \brief Signal handler pro Ctrl+C + */ +void appl_stop(){ + uint8_t tx[16]; + sem_wait(&rps.thd_par_sem); + + memset(tx,0,16*sizeof(int)); + rps.pwm1=0; + rps.pwm2=0; + rps.pwm3=0; + prepare_tx(tx); /*save the data to send*/ + data=spi_read(tx); + + spi_disable(); + clk_disable(); + /*muzeme zavrit semafor*/ + sem_destroy(&rps.thd_par_sem); + printf("\nprogram bezpecne ukoncen\n"); +} + +void substractOffset(struct rpi_in* data, struct rpi_in* offset){ + data->pozice=data->pozice_raw-offset->pozice_raw; + return; +} +/* + * \brief + * Transformace pro uhel pocitany po smeru hodinovych rucicek + */ +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; +} +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 + */ +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; +} + /** * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru */ void * pos_monitor(void* param){ while(1){ - printData(); + printData(&rps); usleep(1000000); /*1 Hz*/ } return (void*)0; @@ -439,7 +520,7 @@ 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){ @@ -450,9 +531,38 @@ inline void pid(){ rps.duty = duty_tmp; } } +/* + * \brief + * Very simple PID regulator. + * Now only with P-part so that the error doesnt go to zero. + * FIXME: make better + */ +inline void spd_pid(){ + int duty_tmp; + duty_tmp = PID_P_S*(rps.desired_spd - rps.speed); + if (duty_tmp>MAX_DUTY){ + rps.duty=MAX_DUTY; + }else if (duty_tmp<-MAX_DUTY){ + rps.duty=-MAX_DUTY; + }else{ + rps.duty = duty_tmp; + } +} + +/* + * \brief + * Computate speed. + */ +void compSpeed(){ + signed long int spd; + spd=rps.spi_dat->pozice-rps.old_pos[rps.tf_count%OLD_POS_NUM]; + rps.speed=(int32_t)spd; +} + /* * \brief * Feedback loop. + * TODO: replace bunch of 'IFs' with Object-like pattern */ void * read_data(void* param){ int i; @@ -470,24 +580,41 @@ void * read_data(void* param){ /* wait until next shot */ clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL); sem_wait(&rps.thd_par_sem); /*---take semaphore---*/ + + /*old positions*/ + rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice; prepare_tx(tx); /*save the data to send*/ data = spi_read(tx); /*exchange data*/ /*subtract initiate postion */ rps.tf_count++; substractOffset(&data,&pocatek); - comIndDist(); + compSpeed(); /*spocita rychlost*/ + 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){ /*pozicni rizeni*/ + pos_pid(); + }else if(rps.spd_reg_ena){ /*rizeni na rychlost*/ + spd_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); } @@ -505,7 +632,6 @@ void * read_data(void* param){ } - /** * \brief Main function. */