#define PRUM_PROUD 2061
#define PRUM_SOUC 6183
+#define MAX_DUTY 128
+#define PID_P 0.1
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
uint8_t test;
uint16_t pwm1, pwm2, pwm3;
char commutate;
- int simple_hall_duty;
+ 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;
}
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("(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.simple_hall_duty);
+ printf("duty=%d\n",s.duty);
if (s.index_ok) printf("index ok\n");
if (s.commutate) printf("commutation in progress\n");
}
}
return (void*)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,
+ */
+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) ||
+ (rps.index_dist>=1048 && rps.index_dist<=1377)){
+ rps.pwm1=0;
+ rps.pwm2=0;
+ rps.pwm3=duty;
+ /* pwm1 */
+ }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
+ (rps.index_dist>=1377 && rps.index_dist<=1711)){
+ rps.pwm1=duty;
+ rps.pwm2=0;
+ rps.pwm3=0;
+ /* pwm2 */
+ }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
+ (rps.index_dist>=711 && rps.index_dist<=1048) ||
+ (rps.index_dist>=1711 && rps.index_dist<=1999)){
+ rps.pwm1=0;
+ rps.pwm2=duty;
+ rps.pwm3=0;
+ }
+ }else{ /*counter-clockwise - position decrease */
+ /* pwm3 */
+ if ((rps.index_dist>=544 && rps.index_dist<=881) ||
+ (rps.index_dist>=1544 && rps.index_dist<=1878)){
+ rps.pwm1=0;
+ rps.pwm2=0;
+ rps.pwm3=-duty;
+ /* pwm1 */
+ }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
+ (rps.index_dist>=881 && rps.index_dist<=1210) ||
+ (rps.index_dist>=1878 && rps.index_dist<=1999)){
+ rps.pwm1=-duty;
+ rps.pwm2=0;
+ rps.pwm3=0;
+ /* pwm2 */
+ }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
+ (rps.index_dist>=1210 && rps.index_dist<=1544)){
+ rps.pwm1=0;
+ rps.pwm2=-duty;
+ rps.pwm3=0;
+ }
+ }
+}
/*
* \brief
* Test function to be placed in controll loop.
* Switches PWM's at point where they produce same force
*/
-inline void simple_hall_commutator(struct rpi_in data, int duty){
+inline void simple_hall_commutator(int duty){
if (duty>=0){ /* clockwise - so that position increase */
/* pwm3 */
if (data.hal2 && !data.hal3){
*/
rps.index_dist-=((rps.index_dist & 0x0800)>>11)*2096;
}
+/*
+ * \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 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
+ * Feedback loop.
+ * TODO: replace usleep with real-time wait
+ * measure times
+ */
void * read_data(void* param){
int i;
struct rpi_in pocatek;
rps.index_ok=1;
}
}
+ pid();
if (rps.index_ok && rps.commutate){
- simple_hall_commutator(data,rps.simple_hall_duty);
+ simple_ind_dist_commutator(rps.duty);
}else if(!rps.index_ok && rps.commutate){
- simple_hall_commutator(data,rps.simple_hall_duty);
+ simple_hall_commutator(rps.duty);
}
sem_post(&thd_par_sem); /*--post semaphore---*/
usleep(1000); /*1kHz*/
case 6:
scanf("%d",&tmp);
sem_wait(&thd_par_sem);
- rps.simple_hall_duty=tmp;
+ 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;
}
return 0;
}
+