X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/bd18e9490dc33e857c4e857e6efd9be683f6ad21..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 4e64f95..4ae245b 100644 --- a/pmsm-control/test_sw/main_pmsm.c +++ b/pmsm-control/test_sw/main_pmsm.c @@ -15,55 +15,45 @@ #include /*sheduler*/ #include /*usleep*/ #include /*threads*/ +#include /*nanosleep*/ #include "rpin.h" /*gpclk*/ #include "rp_spi.h" /*spi*/ #include "misc.h" /*structure for priorities*/ #include "pxmc_sin_fixed.h" /*to test sin commutation */ +#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 #define PRIOR_LOW 20 #define THREAD_SHARED 0 -#define INIT_VALUE 0 /*init value for semaphor*/ +#define INIT_VALUE 1 /*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 NSEC_PER_SEC (1000000000) /* The number of nsecs per sec. */ -#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 */ - unsigned char index_ok; - uint32_t tf_count; /*number of transfer*/ - int desired_pos; /* desired position */ -}rps; - +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. @@ -82,17 +72,34 @@ 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 */ -void sighnd_fnc(){ +void appl_stop(){ spi_disable(); clk_disable(); /*muzeme zavrit semafor*/ - sem_destroy(&thd_par_sem); + sem_destroy(&rps.thd_par_sem); printf("\nprogram bezpecne ukoncen\n"); - exit(0); } void substractOffset(struct rpi_in* data, struct rpi_in* offset){ @@ -101,64 +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(&thd_par_sem); - data_p = data; - s=rps; - sem_post(&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=%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("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){ @@ -224,14 +264,26 @@ void prepare_tx(uint8_t * tx){ * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru */ void * pos_monitor(void* param){ - set_priority(param); /*set priority*/ while(1){ - printData(); + printData(&rps); usleep(1000000); /*1 Hz*/ } return (void*)0; } - +/* + * \brief + * Multiplication of 11 bit + * Zaporne vysledky prvede na nulu. + */ +inline uint16_t mult_cap(int32_t s,int d){ + int j; + int res=0; + for(j=0;j!=11;j++){ + /* multiplicate as if maximum sinus value was unity */ + res+=(!(s & 0x10000000))*(((1 << j) & s)>>j)*(d>>(10-j)); + } + return res; +} inline int sin_commutator(int duty){ #define DEGREE_60 715827883 @@ -241,64 +293,50 @@ int sin_commutator(int duty){ #define DEGREE_300 3579139413 uint32_t j,pos; int32_t sin; - uint16_t pwm; - pos=rps.index_dist*4294967; + pos=rps.index_dist; + int32_t pwm; + /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/ + pos+=38; + /*use it as cyclic 32-bit logic*/ + pos*=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; + pwm=sin*duty/1024; + if (pwm<0) pwm=0; + rps.pwm1=(uint16_t)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; + pwm=sin*duty/1024; + if (pwm<0) pwm=0; + rps.pwm2=(uint16_t)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; + pwm=sin*duty/1024; + if (pwm<0) pwm=0; + rps.pwm3=(uint16_t)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; + pwm=sin*duty/1024; + if (pwm<0) pwm=0; + rps.pwm1=(uint16_t)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; + pwm=sin*duty/1024; + if (pwm<0) pwm=0; + rps.pwm2=(uint16_t)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; + pwm=sin*duty/1024; + if (pwm<0) pwm=0; + rps.pwm3=(uint16_t)pwm; } return 0; } @@ -397,15 +435,66 @@ inline void simple_hall_commutator(int duty){ } } /** - * Funkce pravidelne vycita data z motoru + * \brief + * Computation of distance to index. + * + * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu + * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu - + * to je 3999 bodu + * =>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate + * signalu indexu */ -inline void comIndDist(){ - rps.index_dist=0x0FFF & (data.pozice_raw - data.index_position); - /* - * if distance is bigger than 2047, the distance underflown - * -> if 12th bit is set, substract 2096 - */ - rps.index_dist-=((rps.index_dist & 0x0800)>>11)*2096; +void comIndDist(){ + uint16_t pos = 0x0FFF & data.pozice_raw; + uint16_t dist; + uint16_t index = data.index_position; + + if (index<1999){ /*index e<0,1998> */ + if (pos */ + /*proti smeru h.r. od indexu*/ + dist=pos+2000-index; + }else if (pos<=index+1999){ /*pozice e */ + /*po smeru h.r. od indexu*/ + dist=pos-index; + }else if (pos */ + goto index_lost; + }else{ /*pozice e */ + /*proti smeru h.r. od indexu - podtecena pozice*/ + dist=pos-index-2096; + } + }else if (index<=2096){ /*index e<1999,2096>*/ + if (pos */ + goto index_lost; + }else if (pos */ + /*proti smeru h.r. od indexu*/ + dist=pos+2000-index; + }else if (pos<=index+1999){ /*pozice e */ + /*po smeru h.r. od indexu*/ + dist=pos-index; + }else { /*pozice e */ + goto index_lost; + } + }else{ /*index e<2097,4095> */ + if (pos<=index-2097){ /*pozice e<0,index-2097> */ + /*po smeru h.r. od indexu - pretecena pozice*/ + dist=4096+pos-index; + }else if (pos */ + goto index_lost; + }else if (pos */ + /*proti smeru h.r. od indexu*/ + dist=pos+2000-index; + }else{ /*pozice e */ + /*po smeru h.r. od indexu*/ + dist=pos-index; + } + } + + rps.index_dist = dist; + return; + + index_lost: + rps.index_ok=0; + return; } /* * \brief @@ -413,7 +502,7 @@ inline 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){ @@ -427,144 +516,92 @@ inline void pid(){ /* * \brief * Feedback loop. - * TODO: replace usleep with real-time wait - * measure times + * TODO: replace bunch of 'IFs' with Object-like pattern */ void * read_data(void* param){ int i; struct rpi_in pocatek; + struct timespec t; + int interval = 1000000; /* 1ms ~ 1kHz*/ uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ; char first=1; uint16_t last_index; /*we have index up-to date*/ - set_priority(param); /*set priority*/ pocatek = spi_read(tx); + clock_gettime(CLOCK_MONOTONIC ,&t); + /* start after one second */ + t.tv_sec++; while(1){ + /* wait until next shot */ + clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL); + sem_wait(&rps.thd_par_sem); /*---take semaphore---*/ prepare_tx(tx); /*save the data to send*/ - sem_wait(&thd_par_sem); /*---take semaphore---*/ data = spi_read(tx); /*exchange data*/ /*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*/ } - pid(); + /* pocitame sirku plneni podle potreb rizeni*/ + if (rps.pos_reg_ena){ + pos_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); } - sem_post(&thd_par_sem); /*--post semaphore---*/ - usleep(1000); /*1kHz*/ + sem_post(&rps.thd_par_sem); /*--post semaphore---*/ + + /* calculate next shot */ + t.tv_nsec += interval; + + while (t.tv_nsec >= NSEC_PER_SEC) { + t.tv_nsec -= NSEC_PER_SEC; + t.tv_sec++; + } + } } + + /** * \brief Main function. */ int main(){ - unsigned int tmp; - - /*nastaveni priorit vlaken*/ - struct thread_param tsp; - tsp.sch_policy = SCHED_FIFO; - - /*nastaveni signalu pro vypnuti pomoci Ctrl+C*/ - sighnd.sa_handler=&sighnd_fnc; - sigaction(SIGINT, &sighnd, NULL ); - + pthread_t base_thread_id; clk_init(); /* inicializace gpio hodin */ spi_init(); /* iniicializace spi*/ /*semafor pro detekci zpracovani parametru vlaken*/ - sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE); + sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE); + setup_environment(); - /*vlakna*/ - pthread_t tid; /*identifikator vlakna*/ - pthread_attr_t attr; /*atributy vlakna*/ - pthread_attr_init(&attr); /*inicializuj implicitni atributy*/ + base_thread_id=pthread_self(); + /*main control loop*/ + create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL); + /*monitor of current state*/ + create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL); - /*ziskavani dat z motoru*//*vysoka priorita*/ - tsp.sch_prior = PRIOR_HIGH; - pthread_create(&tid, &attr, read_data, (void*)&tsp); + /*wait for commands*/ + poll_cmd(&rps); - /*vypisovani lokalni pozice*//*nizka priorita*/ - tsp.sch_prior = PRIOR_LOW; - sem_wait(&thd_par_sem); - pthread_create(&tid, &attr, pos_monitor, (void*)&tsp); - - - - /* - * Note: - * pri pouziti scanf("%u",&simple_hall_duty); dochazelo - * k preukladani hodnot na promenne test. Dost divne. - */ - while (1){ - scanf("%u",&tmp); - printf("volba=%u\n",tmp); - switch (tmp){ - case 1: - scanf("%u",&tmp); - sem_wait(&thd_par_sem); - rps.pwm1=tmp&0xFFF; - sem_post(&thd_par_sem); - break; - case 2: - scanf("%u",&tmp); - sem_wait(&thd_par_sem); - rps.pwm2=tmp&0xFFF; - sem_post(&thd_par_sem); - break; - case 3: - scanf("%u",&tmp); - sem_wait(&thd_par_sem); - rps.pwm3=tmp&0xFFF; - sem_post(&thd_par_sem); - break; - case 4: - scanf("%u",&tmp); - sem_wait(&thd_par_sem); - rps.test=tmp&0xFF; - sem_post(&thd_par_sem); - break; - case 5: - sem_wait(&thd_par_sem); - rps.commutate=!rps.commutate; - /* switch off pwms at the end of commutation */ - rps.pwm1&=rps.commutate*0xFFFF; - rps.pwm2&=rps.commutate*0xFFFF; - rps.pwm3&=rps.commutate*0xFFFF; - sem_post(&thd_par_sem); - break; - case 6: - scanf("%d",&tmp); - sem_wait(&thd_par_sem); - rps.duty=tmp; - sem_post(&thd_par_sem); - break; - case 7: - scanf("%d",&tmp); - sem_wait(&thd_par_sem); - rps.desired_pos=tmp; - sem_post(&thd_par_sem); - break; - - default: - break; - } - - } return 0; } -