puts("stop - Vypne komutaci, pwm a rizeni.");
puts("0 - Vypne komutaci, pwm a rizeni.");
puts("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");
- puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
+ puts("spd:[hodnota] - Zapne rizeni na danou rychlost.");
+ puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
puts("exit - Bezpecne ukonci program.");
}
*/
static void dutySet(struct rpi_state* state, int duty){
sem_wait(&state->thd_par_sem);
- if (duty>512) duty=512;
- if (duty<-512) duty=-512;/*paranoia*/
+ if (duty>MAX_DUTY) duty=MAX_DUTY;
+ if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
state->duty=duty;
- state->commutate=1;
state->pos_reg_ena=0;
+ state->spd_reg_ena=0;
+ state->commutate=1;
+ printf("duty=");
sem_post(&state->thd_par_sem);
}
*/
static void goAbsolute(struct rpi_state* state, int pos){
sem_wait(&state->thd_par_sem);
+ state->spd_reg_ena=0;
state->pos_reg_ena=1;
state->commutate=1;
state->desired_pos=pos;
/* Note: atexit() is set before*/
exit(0);
}
+/*
+ * \brief
+ * Set speed.
+ */
+static void setSpeed(struct rpi_state* state, int speed){
+ sem_wait(&state->thd_par_sem);
+ if (speed>MAX_SPEED) speed=MAX_SPEED;
+ if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
+ state->pos_reg_ena=0;
+ state->spd_reg_ena=1;
+ state->commutate=1;
+ state->desired_spd=speed;
+ sem_post(&state->thd_par_sem);
+}
/**
* \brief
changePrint();
}else if (!strcmp(cmd,"exit")){
exitApp(state);
+ }else if (!strcmp(cmd,"spd")){
+ setSpeed(state, val);
}
}
printf("\npozice=%ld\n",data_p.pozice);
printf("rychlost=%d\n",s.speed);
printf("chtena pozice=%d\n",s.desired_pos);
+ printf("chtena rychlost=%d\n",s.desired_spd);
printf("transfer count=%u\n",s.tf_count);
printf("raw_pozice=%u\n",data_p.pozice_raw);
printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
#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 0.7
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
*/
inline void spd_pid(){
int duty_tmp;
- duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
+ duty_tmp = PID_P_S*(rps.desired_spd - rps.speed);
if (duty_tmp>MAX_DUTY){
rps.duty=MAX_DUTY;
}else if (duty_tmp<-MAX_DUTY){
}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);*/