X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/85772a932e99215c8c86d92feb203ee928df0e5f..e25e3c141a062914c72263faec10ffbbad2328e2:/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 dd2372d..bd676e4 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -27,7 +27,8 @@
 
 
 #define PID_P		0.3
-#define PID_P_S		0.7
+#define PID_P_S		0.9	/*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
+#define PID_I_S		0.01
 
 #define PRIOR_KERN	50
 #define PRIOR_HIGH	49
@@ -55,7 +56,11 @@ struct rpi_state rps={
 	.pos_reg_ena=0,
 	.desired_spd=0,
 	.spd_reg_ena=0,
-	.old_pos={0}
+	.old_pos={0},
+	.spd_err_sum=0,
+	.log_col_count=0,	/* pocet radku zaznamu */
+	.log_col=0,
+	.doLogs=0
 };
 
 /**
@@ -93,6 +98,46 @@ int32_t min(int32_t x, int32_t y, int32_t z){
 
         return x;
 }
+
+/*
+ * \brief
+ * Free logs
+ */
+void freeLogs(){
+	int r;
+	if (rps.log_col_count){
+		for (r=0;r<LOG_ROWS;r++){
+			free(rps.logs[r]);
+		}
+	}
+	rps.log_col_count=0;
+	rps.doLogs=0;
+}
+
+/*
+ * \brief
+ * Makes log.
+ */
+void makeLog(){
+	int r;
+	if (rps.log_col==MAX_LOGS-1){
+		rps.doLogs=0;
+		return;
+	}
+	rps.logs[0][rps.log_col]=(int)rps.tf_count;
+	rps.logs[1][rps.log_col]=(int)rps.spi_dat->pozice;
+
+	rps.log_col++;
+
+        if (rps.log_col==rps.log_col_count-1){
+        	rps.log_col_count*=2;
+        	rps.log_col_count%=MAX_LOGS;
+        	for (r=0;r<LOG_ROWS;r++){
+        		rps.logs[r]=realloc(rps.logs[r],rps.log_col_count*sizeof(int));
+        	}
+        }
+}
+
 /*
  * \brief
  * Pripravi psi buffer
@@ -175,6 +220,7 @@ void appl_stop(){
 
 	spi_disable();
 	clk_disable();
+	freeLogs();
 	/*muzeme zavrit semafor*/
 	sem_destroy(&rps.thd_par_sem);
         printf("\nprogram bezpecne ukoncen\n");
@@ -539,7 +585,10 @@ inline void pos_pid(){
  */
 inline void spd_pid(){
 	int duty_tmp;
-	duty_tmp = PID_P_S*(rps.desired_spd - rps.speed);
+	int error;
+	error=rps.desired_spd - rps.speed;
+	rps.spd_err_sum+=error;
+	duty_tmp = PID_P_S*error+PID_I_S*rps.spd_err_sum;
 	if (duty_tmp>MAX_DUTY){
 		rps.duty=MAX_DUTY;
 	}else if (duty_tmp<-MAX_DUTY){
@@ -618,6 +667,12 @@ void * read_data(void* param){
 			}else if(!rps.index_ok && rps.commutate){
 				simple_hall_commutator(rps.duty);
 			}
+
+			/*zalogujeme hodnoty*/
+			if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
+				makeLog();
+			}
+
 			sem_post(&rps.thd_par_sem);		/*--post semaphore---*/
 
 			/* calculate next shot */