X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/9650ac29cdffe74d39e64da32a34384dcd9db72f..e5be33166fa28644d8931ab754db8a7c99204364:/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 8b65c74..3d13ff2 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -25,9 +25,10 @@
 #include "pmsm_state.h"
 #include "cmd_proc.h"
 
-#define MAX_DUTY	170
+
 #define PID_P		0.3
-#define PID_P_S		0.3
+#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
@@ -54,7 +55,9 @@ struct rpi_state rps={
 	.desired_pos=0,		/* desired position */
 	.pos_reg_ena=0,
 	.desired_spd=0,
-	.spd_reg_ena=0
+	.spd_reg_ena=0,
+	.old_pos={0},
+	.spd_err_sum=0
 };
 
 /**
@@ -180,8 +183,7 @@ void appl_stop(){
 }
 
 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
-	data->pozice_raw=data->pozice;
-	data->pozice-=offset->pozice;
+	data->pozice=data->pozice_raw-offset->pozice_raw;
 	return;
 }
 /*
@@ -539,8 +541,10 @@ inline void pos_pid(){
  */
 inline void spd_pid(){
 	int duty_tmp;
-	signed long int speed=rps.spi_dat->pozice-rps.old_pos;
-	duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
+	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){
@@ -549,6 +553,17 @@ inline void spd_pid(){
 		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.
@@ -571,12 +586,14 @@ void * read_data(void* param){
 			clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 			sem_wait(&rps.thd_par_sem);		/*---take semaphore---*/
 
-			rps.old_pos=rps.spi_dat->pozice;	/*old position*/
+			/*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);
+			compSpeed();			/*spocita rychlost*/
 
 			if (!rps.index_ok){
 				if (first){
@@ -589,10 +606,14 @@ void * read_data(void* param){
 			}else{ /*index je v poradku*/
 				comIndDist();		/*vypocet vzdalenosti indexu*/
 			}
+
 			/* pocitame sirku plneni podle potreb rizeni*/
-			if (rps.pos_reg_ena){
+			if (rps.pos_reg_ena){           /*pozicni rizeni*/
 				pos_pid();
+			}else if(rps.spd_reg_ena){	/*rizeni na rychlost*/
+				spd_pid();
 			}
+
 			/* sirka plneni prepoctena na jednotlive pwm */
 			if (rps.index_ok && rps.commutate){
 				/*simple_ind_dist_commutator(rps.duty);*/
@@ -616,7 +637,6 @@ void * read_data(void* param){
 }
 
 
-
 /**
  * \brief Main function.
  */