Complete commutation keeping vector of stator magnetic field perpendicular to vector...

diff --git a/pmsm-control/test_sw/Makefile b/pmsm-control/test_sw/Makefile
index be5ddb29f805afd8aef448738f2cc02109eb42b0..6b2be77cc6688177097ecc6534ccfa2b28c211fd 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
 spi: rp_spi.o
        gcc -o spi rp_spi.c
 #pro rpi

-pmsm: main_pmsm.o rp_spi.o rpi_hw.o misc.o
-       gcc -o pmsm_controll main_pmsm.o rp_spi.o rpi_hw.o  misc.o -lpthread
+pmsm: main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o
+       gcc -o pmsm_controll main_pmsm.o rp_spi.o rpi_hw.o  misc.o pxmc_sin_fixtab.o -lpthread

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 4a03c3adff0246e6f76967275807c3f92fea714a..5759c970e92d0ceaf0fc745ba9bd565d4bdebf6f 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -19,6 +19,8 @@
 #include "rpin.h"      /*gpclk*/
 #include "rp_spi.h"    /*spi*/
 #include "misc.h"      /*structure for priorities*/
 #include "rpin.h"      /*gpclk*/
 #include "rp_spi.h"    /*spi*/
 #include "misc.h"      /*structure for priorities*/

+#include "pxmc_sin_fixed.h"    /*to test sin commutation */
+

 
 
 #define PRUM_PROUD     2061
 
 
 #define PRUM_PROUD     2061


@@ -33,11 +35,27 @@
 #define THREAD_SHARED  0
 #define INIT_VALUE     0       /*init value for semaphor*/
 
 #define THREAD_SHARED  0
 #define INIT_VALUE     0       /*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 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;
 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 */
        char commutate;
        int duty;                       /* duty cycle of pwm */
        uint16_t index_dist;            /* distance to index position */


@@ -125,13 +143,14 @@ void printData(){
        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("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("distance to index=%u\n",s.index_dist);

        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("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("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));


@@ -177,6 +196,7 @@ void prepare_tx(uint8_t * tx){
        uint16_t tmp;
 
        /* keep the cap*/
        uint16_t tmp;
 
        /* keep the cap*/

+

        if (rps.pwm1>2047) rps.pwm1=2047;
        if (rps.pwm2>2047) rps.pwm2=2047;
        if (rps.pwm3>2047) rps.pwm3=2047;
        if (rps.pwm1>2047) rps.pwm1=2047;
        if (rps.pwm2>2047) rps.pwm2=2047;
        if (rps.pwm3>2047) rps.pwm3=2047;


@@ -210,13 +230,85 @@ void * pos_monitor(void* param){
        }
        return (void*)0;
 }
        }
        return (void*)0;
 }

+
+inline
+int sin_commutator(int duty){
+       #define DEGREE_60        715827883
+       #define DEGREE_120      1431655765
+       #define DEGREE_180      2147483648
+       #define DEGREE_240      2863311531
+       #define DEGREE_300      3579139413
+       uint32_t j,pos;
+       int32_t sin;
+       uint16_t pwm;
+       pos=rps.index_dist*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;
+
+                /* 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;
+
+                /* 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;
+        }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;
+
+                /* 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;
+
+                /* 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;
+        }
+        return 0;
+}

 /*
  * \brief
  * Test function to be placed in controll loop.
  * Switches PWM's at point where they produce same force.
  * This points are found thanks to IRC position,
  */
 /*
  * \brief
  * Test function to be placed in controll loop.
  * Switches PWM's at point where they produce same force.
  * This points are found thanks to IRC position,
  */

-inline void simple_ind_dist_commutator(int duty){
+inline
+void simple_ind_dist_commutator(int duty){

        if (duty>=0){ /* clockwise - so that position increase */
                /* pwm3 */
                if ((rps.index_dist>=45 && rps.index_dist<=373) ||
        if (duty>=0){ /* clockwise - so that position increase */
                /* pwm3 */
                if ((rps.index_dist>=45 && rps.index_dist<=373) ||


@@ -363,7 +455,8 @@ void * read_data(void* param){
                        }
                        pid();
                        if (rps.index_ok && rps.commutate){
                        }
                        pid();
                        if (rps.index_ok && rps.commutate){

-                               simple_ind_dist_commutator(rps.duty);
+                               /*simple_ind_dist_commutator(rps.duty);*/
+                               sin_commutator(rps.duty);

                        }else if(!rps.index_ok && rps.commutate){
                                simple_hall_commutator(rps.duty);
                        }
                        }else if(!rps.index_ok && rps.commutate){
                                simple_hall_commutator(rps.duty);
                        }

diff --git a/pmsm-control/test_sw/pxmc_sin_fixed.h b/pmsm-control/test_sw/pxmc_sin_fixed.h
new file mode 100644 (file)
index 0000000..79085e4
--- /dev/null
+++ b/pmsm-control/test_sw/pxmc_sin_fixed.h
@@ -0,0 +1,139 @@
+/*******************************************************************
+  Components for embedded applications builded for
+  laboratory and medical instruments firmware
+
+  pxmc_sin_fixed.h - generic multi axis motion controller
+             fixed sine approximation
+
+  (C) 2001-2015 by Pavel Pisa pisa@cmp.felk.cvut.cz
+  (C) 2002-2015 by PiKRON Ltd. http://www.pikron.com
+
+  This file can be used and copied according to next
+  license alternatives
+   - GPL - GNU Public License
+   - other license provided by project originators
+
+ *******************************************************************/
+
+#include <stdint.h>
+
+#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 PXMC_SIN_FIX_PI2      0x40000000
+#define PXMC_SIN_FIX_2PI3     0x55555555
+
+extern const uint32_t pxmc_sin_fixed_table[];
+
+/**
+ * pxmc_sin_fixed_inline - fixed math sine computation
+ * @x: The argument value - 2^32 corresponds to 2 * PI or 360 deg
+ * @res_unit_bits: number of fraction bits of the result (default 16)
+ *
+ * Returns sine of value @x argument where unit is 2^16, i.e.
+ * return value 0x10000 is equivalent to +1.0 and -0x10000 to -1.0
+ */
+static inline
+int32_t pxmc_sin_fixed_inline(uint32_t x, int res_unit_bits)
+{
+  uint32_t tabval;
+  unsigned int ti;
+  int32_t a;
+  int b, xd;
+  int32_t yl;
+
+  if (!res_unit_bits)
+    res_unit_bits = 16;
+
+  ti = x >> PXMC_SIN_FIX_IDX_SLR;
+  xd = (x & PXMC_SIN_FIX_XD_MASK) >> PXMC_SIN_FIX_XD_SLR;
+
+  tabval = pxmc_sin_fixed_table[ti];
+  a = tabval & PXMC_SIN_FIX_A_MASK;
+  b = (int32_t)(tabval << PXMC_SIN_FIX_B_SLL) >> PXMC_SIN_FIX_B_SAR;
+
+  yl = a;
+  yl += ((int32_t)b * xd) >> PXMC_SIN_FIX_B_XD_SAR;
+
+  yl += yl & (1 << (29 - res_unit_bits));
+  yl >>= 30 - res_unit_bits;
+
+  return yl;
+}
+
+/**
+ * pxmc_sincos_fixed_inline - fixed math sine computation
+ * @pysin: pointer to location where sine value is returned
+ * @pycos: pointer to location where cosine value is returned
+ * @x: The argument value - 2^32 corresponds to 2 * PI or 360 deg
+ * @res_unit_bits: number of fraction bits of the result (default 16)
+ *
+ * Returns sine and cosine of value @x argument where unit is 2^16, i.e.
+ * return value 0x10000 is equivalent to +1.0 and -0x10000 to -1.0
+ */
+static inline
+void pxmc_sincos_fixed_inline(int32_t *pysin, int32_t *pycos,
+                              uint32_t x, int res_unit_bits)
+{
+  uint32_t tabval;
+  unsigned int ti;
+  int32_t a;
+  int b, xd;
+  int32_t ysin;
+  int32_t ycos;
+
+  if (!res_unit_bits)
+    res_unit_bits = 16;
+
+  ti = x >> PXMC_SIN_FIX_IDX_SLR;
+  xd = (x & PXMC_SIN_FIX_XD_MASK) >> PXMC_SIN_FIX_XD_SLR;
+
+  tabval = pxmc_sin_fixed_table[ti];
+  a = tabval & PXMC_SIN_FIX_A_MASK;
+  b = (int32_t)(tabval << PXMC_SIN_FIX_B_SLL) >> PXMC_SIN_FIX_B_SAR;
+
+  ysin = a;
+  ysin += ((int32_t)b * xd) >> PXMC_SIN_FIX_B_XD_SAR;
+
+  ysin += ysin & (1 << (29 - res_unit_bits));
+  ysin >>= 30 - res_unit_bits;
+
+  ti = (uint32_t)(x + PXMC_SIN_FIX_PI2) >> PXMC_SIN_FIX_IDX_SLR;
+
+  tabval = pxmc_sin_fixed_table[ti];
+  a = tabval & PXMC_SIN_FIX_A_MASK;
+  b = (int32_t)(tabval << PXMC_SIN_FIX_B_SLL) >> PXMC_SIN_FIX_B_SAR;
+
+  ycos = a;
+  ycos += ((int32_t)b * xd) >> PXMC_SIN_FIX_B_XD_SAR;
+
+  ycos += ycos & (1 << (29 - res_unit_bits));
+  ycos >>= 30 - res_unit_bits;
+
+  *pysin = ysin;
+  *pycos = ycos;
+}
+
+/**
+ * pxmc_sin_fixed_zic_inline - indicate range for +/-10 degree zero current correction
+ * @x: The argument value - 2^32 corresponds to 2 * PI or 360 deg
+ *
+ * Returns value one if input is in the 0 or PI +/- 10 deg range.
+ */
+static inline
+int pxmc_sin_fixed_zic_inline(uint32_t x)
+{
+  unsigned int ti;
+
+  ti = x >> PXMC_SIN_FIX_IDX_SLR;
+
+  return (pxmc_sin_fixed_table[ti] >> PXMC_SIN_FIX_ZIC_BIT) & 1;
+}

diff --git a/pmsm-control/test_sw/pxmc_sin_fixtab.c b/pmsm-control/test_sw/pxmc_sin_fixtab.c
new file mode 100644 (file)
index 0000000..abd287f
--- /dev/null
+++ b/pmsm-control/test_sw/pxmc_sin_fixtab.c
@@ -0,0 +1,534 @@
+/*******************************************************************
+  Components for embedded applications builded for
+  laboratory and medical instruments firmware
+
+  pxmc_sin_fixtab.c - generic multi axis motion controller
+             table for fixed sine approximation
+
+  (C) 2001-2015 by Pavel Pisa pisa@cmp.felk.cvut.cz
+  (C) 2002-2015 by PiKRON Ltd. http://www.pikron.com
+
+  This file can be used and copied according to next
+  license alternatives
+   - GPL - GNU Public License
+   - other license provided by project originators
+
+ *******************************************************************/
+
+#include <stdint.h>
+#include "pxmc_sin_fixed.h"
+
+const uint32_t pxmc_sin_fixed_table[] = {
+0x00002c91,
+0x00c92c90,
+0x01922c8f,
+0x025b2c8e,
+0x03242c8c,
+0x03ecec8a,
+0x04b56c87,
+0x057dec83,
+0x06462c7f,
+0x070e2c7b,
+0x07d5ac76,
+0x089d2c71,
+0x09642c6b,
+0x0a2aec65,
+0x0af10c5e,
+0x0bb70c57,
+0x0c7c8c4f,
+0x0d414c47,
+0x0e05cc3e,
+0x0ec9cc35,
+0x0f8d0c2c,
+0x104fcc22,
+0x1111cc17,
+0x11d34c0c,
+0x12940c01,
+0x13540bf5,
+0x14138be8,
+0x14d20bdc,
+0x158fcbce,
+0x164c8bc0,
+0x17088bb2,
+0x17c3cba4,
+0x187e0b94,
+0x19374b85,
+0x19ef8b75,
+0x1aa6cb64,
+0x1b5d4b54,
+0x1c124b42,
+0x1cc68b31,
+0x1d798b1e,
+0x1e2b8b0c,
+0x1edc4af9,
+0x1f8bcae5,
+0x203a0ad1,
+0x20e74abd,
+0x21930aa8,
+0x223d8a93,
+0x22e6ca7e,
+0x238e8a68,
+0x24350a51,
+0x24da4a3b,
+0x257dca24,
+0x26200a0c,
+0x26c0c9f4,
+0x276009dc,
+0x27fdc9c3,
+0x289a09aa,
+0x2934c991,
+0x29cdc977,
+0x2a65095d,
+0x2afb0942,
+0x2b8f0927,
+0x2c21890c,
+0x2cb248f1,
+0x2d4148d5,
+0x2dcec8b8,
+0x2e5a489c,
+0x2ee4087f,
+0x2f6bc862,
+0x2ff20844,
+0x30764826,
+0x30f88808,
+0x317907ea,
+0x31f7c7cb,
+0x327487ac,
+0x32ef078c,
+0x3368076c,
+0x33dec74c,
+0x3453872c,
+0x34c6470c,
+0x353706eb,
+0x35a586ca,
+0x361246a8,
+0x367cc687,
+0x36e54665,
+0x374b8643,
+0x37afc620,
+0x3811c5fe,
+0x387185db,
+0x38cf45b8,
+0x392ac595,
+0x39840571,
+0x39db054e,
+0x3a30052a,
+0x3a828506,
+0x3ad304e1,
+0x3b2104bd,
+0x3b6cc498,
+0x3bb64473,
+0x3bfd844e,
+0x3c428429,
+0x3c850404,
+0x3cc543de,
+0x3d0303b9,
+0x3d3ec393,
+0x3d77c36d,
+0x3daec347,
+0x3de30321,
+0x3e1542fa,
+0x3e44c2d4,
+0x3e7202ae,
+0x3e9d0287,
+0x3ec54260,
+0x3eeb4239,
+0x3f0f0213,
+0x3f3001ec,
+0x3f4ec1c4,
+0x3f6b019d,
+0x3f850176,
+0x3f9c414f,
+0x3fb14128,
+0x3fc3c100,
+0x3fd3c0d9,
+0x3fe140b2,
+0x3fec808a,
+0x3ff50063,
+0x3ffb403b,
+0x3fff0011,
+0x40001fef,
+0x3fff1fc5,
+0x3ffb5f9d,
+0x3ff51f76,
+0x3fec9f4e,
+0x3fe15f27,
+0x3fd3df00,
+0x3fc3ded8,
+0x3fb15eb1,
+0x3f9c5e8a,
+0x3f851e63,
+0x3f6b1e3c,
+0x3f4ede14,
+0x3f301ded,
+0x3f0f1dc7,
+0x3eeb5da0,
+0x3ec55d79,
+0x3e9d1d52,
+0x3e721d2c,
+0x3e44dd06,
+0x3e155cdf,
+0x3de31cb9,
+0x3daedc93,
+0x3d77dc6d,
+0x3d3edc47,
+0x3d031c22,
+0x3cc55bfc,
+0x3c851bd7,
+0x3c429bb2,
+0x3bfd9b8d,
+0x3bb65b68,
+0x3b6cdb43,
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