Controllers moved to separate file.

diff --git a/pmsm-control/test_sw/Makefile b/pmsm-control/test_sw/Makefile
index 91f533a50aac5ec645f9f20e7ca1caaea76621b4..d2e19af26a0c4da11ffbd0437e05f0bebe5598af 100644 (file)
--- a/pmsm-control/test_sw/Makefile
+++ b/pmsm-control/test_sw/Makefile
@@ -49,5 +49,5 @@ blikej: howto_gpio.o rpi_hw.o
 spi: rp_spi.o
        gcc -o spi rp_spi.c
 #pro rpi
-pmsm: main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o cmd_proc.o
-       gcc -o pmsm_controll main_pmsm.o rp_spi.o rpi_hw.o  misc.o pxmc_sin_fixtab.o cmd_proc.o -lpthread -lrt
+pmsm: main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o
+       gcc -o pmsm_controll main_pmsm.o rp_spi.o rpi_hw.o  misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o -lpthread -lrt

diff --git a/pmsm-control/test_sw/controllers.c b/pmsm-control/test_sw/controllers.c
new file mode 100644 (file)
index 0000000..059ade6
--- /dev/null
+++ b/pmsm-control/test_sw/controllers.c
@@ -0,0 +1,40 @@
+
+#include "controllers.h"
+
+/*
+ * \brief
+ * Very simple PID regulator.
+ * Now only with P-part so that the error doesnt go to zero.
+ * TODO: add anti-wind up and I and D parts
+ */
+void pos_pid(struct rpi_state* state){
+       int duty_tmp;
+       duty_tmp = PID_P*(state->desired_pos - (int32_t)state->spi_dat->pozice);
+       if (duty_tmp>MAX_DUTY){
+               state->duty=MAX_DUTY;
+       }else if (duty_tmp<-MAX_DUTY){
+               state->duty=-MAX_DUTY;
+       }else{
+               state->duty = duty_tmp;
+       }
+}
+
+/*
+ * \brief
+ * Very simple PID regulator.
+ * FIXME: make better
+ */
+void spd_pid(struct rpi_state* state){
+       int duty_tmp;
+       int error;
+       error=state->desired_spd - state->speed;
+       state->spd_err_sum+=error;
+       duty_tmp = PID_P_S*error+PID_I_S*state->spd_err_sum;
+       if (duty_tmp>MAX_DUTY){
+               state->duty=MAX_DUTY;
+       }else if (duty_tmp<-MAX_DUTY){
+               state->duty=-MAX_DUTY;
+       }else{
+               state->duty = duty_tmp;
+       }
+}

diff --git a/pmsm-control/test_sw/controllers.h b/pmsm-control/test_sw/controllers.h
new file mode 100644 (file)
index 0000000..520745e
--- /dev/null
+++ b/pmsm-control/test_sw/controllers.h
@@ -0,0 +1,38 @@
+/**
+ * \brief
+ * Speed and position regulators.
+ * \author Martin Prudek
+ * \file controllers.h
+ *
+ */
+#ifndef CONTROLLERS
+#define CONTROLLERS
+
+#include "pmsm_state.h"        /*pmsm state*/
+#include "rp_spi.h"    /*spi struct*/
+
+#define PID_P          0.3
+
+/*     RL-tool results from first order system approx  */
+/*     P=0.16 I=13,4/freq=0.013                        */
+/*     Hodnoty upraveny podle skutecnych vysledku      */
+/*     P=0.8   I=0.01                                  */
+
+#define PID_P_S                0.16            /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
+#define PID_I_S                0.0134
+
+/**
+ * \brief
+ * Very simple position P regulator.
+ * Now only with P-part so that the error doesnt go to zero.
+ */
+void pos_pid(struct rpi_state* state);
+
+/**
+ * \brief
+ * Very simple PI speed regulator.
+ */
+void spd_pid(struct rpi_state* state);
+
+
+#endif /*CONTROLLERS*/

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index e4ec9acf6623716c9f3dd840b4d12a94710c1f66..84b1cdde31fc44fb73dee0859a3fbcde02606636 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -24,17 +24,10 @@
 #include "pxmc_sin_fixed.h"    /*to test sin commutation */
 #include "pmsm_state.h"
 #include "cmd_proc.h"
+#include "controllers.h"
 
 
-#define PID_P          0.3
 
-/*     RL-tool results from first order system approx  */
-/*     P=0.16 I=13,4/freq=0.013                        */
-/*     Hodnoty upraveny podle skutecnych vysledku      */
-/*     P=0.8   I=0.01                                  */
-
-#define PID_P_S                0.16            /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
-#define PID_I_S                0.0134
 
 #define PRIOR_KERN     50
 #define PRIOR_HIGH     49
@@ -49,6 +42,7 @@
 
 struct rpi_in data;
 struct rpi_state rps={
+       //.MAX_DUTY=170,
        .spi_dat=&data,
        .test=0,
        .pwm1=0,.pwm2=0, .pwm3=0,
@@ -372,6 +366,7 @@ inline uint16_t mult_cap(int32_t s,int d){
        }
        return res;
 }
+
 inline
 int sin_commutator(int duty){
        #define DEGREE_60        715827883
@@ -584,43 +579,7 @@ void comIndDist(){
                rps.index_ok=0;
                return;
 }
-/*
- * \brief
- * Very simple PID regulator.
- * 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 pos_pid(){
-       int duty_tmp;
-       duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
-       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
- * 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;
-       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){
-               rps.duty=-MAX_DUTY;
-       }else{
-               rps.duty = duty_tmp;
-       }
-}
+
 
 /*
  * \brief
@@ -677,9 +636,9 @@ void * read_data(void* param){
 
                        /* pocitame sirku plneni podle potreb rizeni*/
                        if (rps.pos_reg_ena){           /*pozicni rizeni*/
-                               pos_pid();
+                               pos_pid(&rps);
                        }else if(rps.spd_reg_ena){      /*rizeni na rychlost*/
-                               spd_pid();
+                               spd_pid(&rps);
                        }
 
                        /* sirka plneni prepoctena na jednotlive pwm */

diff --git a/pmsm-control/test_sw/pmsm_state.h b/pmsm-control/test_sw/pmsm_state.h
index b3a3125e5e8b03543a58431fe4e42a72f52f3be8..5d02be26b62328c7503cdb75fb2f10a4ca5d7de6 100644 (file)
--- a/pmsm-control/test_sw/pmsm_state.h
+++ b/pmsm-control/test_sw/pmsm_state.h
@@ -16,6 +16,8 @@
 struct rpi_in;
 
 struct rpi_state{
+       //const unsigned MAX_DUTY;      /*Max duty*/
+
        struct rpi_in* spi_dat;         /* spi data */
        sem_t thd_par_sem;              /* data metual exlusion access */
        uint8_t test;                   /* configuratin byte - pwm enabl. bits etc. */