uint8_t test;
uint16_t pwm1, pwm2, pwm3;
char commutate;
-uint16_t simple_hall_duty;
+int simple_hall_duty;
/**
printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch2,cur2,diff_p(cur2));
printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch0,cur0,diff_p(cur0));
printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
- printf("duty=%u\n",simple_hall_duty);
+ printf("duty=%d\n",simple_hall_duty);
if (commutate) printf("commutation in progress\n");
}
void prepare_tx(uint8_t * tx){
/*
* \brief
* Test function to be placed in controll loop.
- * Clockwise rotation with PWM with 64 out of 2048 duty cycle.
+ * Switches PWM's at point where they produce same force
*/
-inline void simple_hall_commutator(struct rpi_in data){
- /* pwm3 */
- if (data.hal2 && !data.hal3){
- pwm1=0;
- pwm2=0;
- pwm3=simple_hall_duty;
- /* pwm1 */
- }else if (data.hal1 && !data.hal2){
- pwm1=simple_hall_duty;
- pwm2=0;
- pwm3=0;
- /* pwm2 */
- }else if (!data.hal1 && data.hal3){
- pwm1=0;
- pwm2=simple_hall_duty;
- pwm3=0;
+inline void simple_hall_commutator(struct rpi_in data, int duty){
+ if (duty>=0){ /* clockwise - so that position increase */
+ /* pwm3 */
+ if (data.hal2 && !data.hal3){
+ pwm1=0;
+ pwm2=0;
+ pwm3=duty;
+ /* pwm1 */
+ }else if (data.hal1 && !data.hal2){
+ pwm1=duty;
+ pwm2=0;
+ pwm3=0;
+ /* pwm2 */
+ }else if (!data.hal1 && data.hal3){
+ pwm1=0;
+ pwm2=duty;
+ pwm3=0;
+ }
+ }else{ /*counter-clockwise - position decrease */
+ /* pwm3 */
+ if (!data.hal2 && data.hal3){
+ pwm1=0;
+ pwm2=0;
+ pwm3=-duty;
+ /* pwm1 */
+ }else if (!data.hal1 && data.hal2){
+ pwm1=-duty;
+ pwm2=0;
+ pwm3=0;
+ /* pwm2 */
+ }else if (data.hal1 && !data.hal3){
+ pwm1=0;
+ pwm2=-duty;
+ pwm3=0;
+ }
}
}
/**
data = spi_read(tx);
substractOffset(&data,&pocatek);
if (commutate){
- simple_hall_commutator(data);
+ simple_hall_commutator(data,simple_hall_duty);
}
usleep(1000); /*1kHz*/
}
pwm3&=commutate*0xFFFF;
break;
case 6:
- scanf("%u",&tmp);
- simple_hall_duty=tmp&0xFFF;
+ scanf("%d",&tmp);
+ simple_hall_duty=tmp;
break;
default: