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 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
+pmsm: main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o commutators.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 commutators.o -lpthread -lrt
--- /dev/null
+/**
+ * \brief
+ * Implementation of commutators and transformations.
+ */
+
+#include "commutators.h"
+#include "pxmc_sin_fixed.h" /*sinus function*/
+
+/*
+ * \brief
+ * Computes minimum value of three numbers.
+ * Input values must be in range <-2^28;2^28>.
+ */
+static int32_t min(int32_t x, int32_t y, int32_t z){
+ int32_t diff,sign;
+
+ diff=x-y; /*rozdil*/
+ sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze y je vetsi*/
+ x=y+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
+
+ diff=x-z; /*rozdil*/
+ sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze z je vetsi*/
+ x=z+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
+
+ return x;
+}
+
+/*
+ * \brief
+ * Transformace pro uhel pocitany po smeru hodinovych rucicek
+ */
+static void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int32_t cos){
+ *alpha=cos*d+sin*q;
+ *beta=-sin*d+cos*q;
+ return;
+}
+
+/**
+ * \brief
+ * Zpetna Clarkova transformace
+ */
+static void alphabeta2pwm3(int32_t * ia, int32_t * ib, int32_t *ic,int32_t alpha, int32_t beta){
+ *ia=alpha;
+ *ib=-alpha/2+beta*887/1024;
+ *ic=-alpha/2-beta*887/1024;
+}
+
+/*
+ * \brief
+ * Preocita napeti na jednotlivych civkach na napeti,
+ * ktera budou privedena na svorky motoru.
+ * Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
+ */
+static void transDelta(int32_t * u1, int32_t * u2, int32_t *u3, int32_t ub , int32_t uc){
+ int32_t t;
+
+ /*vypocte napeti tak, aby odpovidaly rozdily*/
+ *u1=uc;
+ *u2=uc+ub;
+ *u3=0;
+
+ /*najde zaporne napeti*/
+ t=min(*u1,*u2,*u3);
+
+ /*dorovna zaporna napeti na nulu*/
+ *u1-=t;
+ *u2-=t;
+ *u3-=t;
+}
+
+/**
+ * \brief
+ * Simple vector-control commutator without delta-transformation.
+ * Nearly same as sin_commuatator.
+ */
+void inv_trans_comm(struct rpi_state* this){
+ uint32_t pos;
+ int32_t sin, cos;
+ int32_t alpha, beta;
+ int32_t pwma,pwmb,pwmc;
+ pos=this->index_dist;
+ /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
+ pos+=717;
+ /*use it as cyclic 32-bit logic*/
+ pos*=4294967;
+ pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
+ dq2alphabeta(&alpha, &beta,0,this->duty, sin, cos);
+ alpha>>=16;
+ beta>>=16;
+ alphabeta2pwm3(&pwma,&pwmb, &pwmc,alpha,beta);
+
+ if (pwma<0) pwma=0;
+ if (pwmb<0) pwmb=0;
+ if (pwmc<0) pwmc=0;
+
+ /*debugovaci vystupy - pouze vypisy hodnot*/
+ this->t_pwm1=(uint16_t)pwma;
+ this->t_pwm3=(uint16_t)pwmb;
+ this->t_pwm2=(uint16_t)pwmc;
+}
+
+/*
+ * \brief
+ * Robust vector-control commuator with Delta-transformation.
+ */
+void inv_trans_comm_2(struct rpi_state* this){
+ uint32_t pos;
+ int32_t sin, cos;
+ int32_t alpha, beta;
+ int32_t ua,ub,uc;
+ int32_t ia,ib,ic;
+ int32_t u1,u2,u3;
+ pos=this->index_dist;
+
+ pos+=this->alpha_offset; /*zarovnani faze 'a' s osou 'alpha'*/
+
+ /*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
+ pos*=4294967;
+ pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
+
+ dq2alphabeta(&alpha, &beta,0,this->duty, sin, cos);
+ alpha>>=16;
+ beta>>=16;
+
+ alphabeta2pwm3(&ia,&ib, &ic,alpha,beta);
+
+ ua=ia;
+ ub=ib;
+ uc=ic;
+
+ transDelta(&u1,&u2, &u3,ub,uc);
+
+ this->pwm1=(uint16_t)u1;
+ this->pwm2=(uint16_t)u2;
+ this->pwm3=(uint16_t)u3;
+}
+
+/**
+ * \brief
+ * Simple voltage commutation, takes use of sin finction.
+ */
+void sin_commutator(struct rpi_state* this){
+ #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;
+ int32_t pwm;
+ int duty=this->duty;
+ pos=this->index_dist;
+ /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
+ pos+=38;
+ /*use it as cyclic 32-bit logic*/
+ pos*=4294967;
+ if (this->duty>=0){ /*clockwise rotation*/
+ /* 1st phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ this->pwm1=(uint16_t)pwm;
+
+ /* 2nd phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ this->pwm2=(uint16_t)pwm;
+
+ /* 3rd phase */
+ sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ this->pwm3=(uint16_t)pwm;
+ }else{
+ duty=-duty;
+
+ /* 1st phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ this->pwm1=(uint16_t)pwm;
+
+ /* 2nd phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ this->pwm2=(uint16_t)pwm;
+
+ /* 3rd phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ this->pwm3=(uint16_t)pwm;
+ }
+}
+
+/*
+ * \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,
+ */
+void simple_ind_dist_commutator(struct rpi_state* this){
+ int duty=this->duty;
+ uint16_t index_dist=this->index_dist;
+ if (duty>=0){ /* clockwise - so that position increase */
+ /* pwm3 */
+ if ((index_dist>=45 && index_dist<=373) ||
+ (index_dist>=1048 && index_dist<=1377)){
+ this->pwm1=0;
+ this->pwm2=0;
+ this->pwm3=duty;
+ /* pwm1 */
+ }else if ((index_dist>=373 && index_dist<=711) ||
+ (index_dist>=1377 && index_dist<=1711)){
+ this->pwm1=duty;
+ this->pwm2=0;
+ this->pwm3=0;
+ /* pwm2 */
+ }else if ((index_dist>=0 && index_dist<=45) ||
+ (index_dist>=711 && index_dist<=1048) ||
+ (index_dist>=1711 && index_dist<=1999)){
+ this->pwm1=0;
+ this->pwm2=duty;
+ this->pwm3=0;
+ }
+ }else{ /*counter-clockwise - position decrease */
+ /* pwm3 */
+ if ((index_dist>=544 && index_dist<=881) ||
+ (index_dist>=1544 && index_dist<=1878)){
+ this->pwm1=0;
+ this->pwm2=0;
+ this->pwm3=-duty;
+ /* pwm1 */
+ }else if ((index_dist>=0 && index_dist<=211) ||
+ (index_dist>=881 && index_dist<=1210) ||
+ (index_dist>=1878 && index_dist<=1999)){
+ this->pwm1=-duty;
+ this->pwm2=0;
+ this->pwm3=0;
+ /* pwm2 */
+ }else if ((index_dist>=211 && index_dist<=544) ||
+ (index_dist>=1210 && index_dist<=1544)){
+ this->pwm1=0;
+ this->pwm2=-duty;
+ this->pwm3=0;
+ }
+ }
+}
+
+/*
+ * \brief
+ * Test function to be placed in controll loop.
+ * Switches PWM's at point where they produce same force
+ */
+void simple_hall_commutator(struct rpi_state* this){
+ int duty=this->duty;
+ int8_t hal1=this->spi_dat->hal1;
+ int8_t hal2=this->spi_dat->hal2;
+ int8_t hal3=this->spi_dat->hal3;
+ if (duty>=0){ /* clockwise - so that position increase */
+ /* pwm3 */
+ if (hal2 && !hal3){
+ this->pwm1=0;
+ this->pwm2=0;
+ this->pwm3=duty;
+ /* pwm1 */
+ }else if (hal1 && !hal2){
+ this->pwm1=duty;
+ this->pwm2=0;
+ this->pwm3=0;
+ /* pwm2 */
+ }else if (!hal1 && hal3){
+ this->pwm1=0;
+ this->pwm2=duty;
+ this->pwm3=0;
+ }
+ }else{ /*counter-clockwise - position decrease */
+ /* pwm3 */
+ if (!hal2 && hal3){
+ this->pwm1=0;
+ this->pwm2=0;
+ this->pwm3=-duty;
+ /* pwm1 */
+ }else if (!hal1 && hal2){
+ this->pwm1=-duty;
+ this->pwm2=0;
+ this->pwm3=0;
+ /* pwm2 */
+ }else if (hal1 && !hal3){
+ this->pwm1=0;
+ this->pwm2=-duty;
+ this->pwm3=0;
+ }
+ }
+}
--- /dev/null
+/**
+ * \brief
+ * Duty cycle commutation.
+ * \author Martin Prudek
+ * \file commutators.h
+ *
+ */
+#ifndef COMMUTATORS
+#define COMMUTATORS
+
+#include "pmsm_state.h"
+#include "rp_spi.h"
+
+/**
+ * \brief
+ * Simple vector-control commutator without delta-transformation.
+ * Nearly same as sin_commuatator.
+ */
+void inv_trans_comm(struct rpi_state*);
+
+/*
+ * \brief
+ * Robust vector-control commuator with Delta-transformation.
+ */
+void inv_trans_comm_2(struct rpi_state*);
+
+/**
+ * \brief
+ * Simple voltage commutation, takes use of sin function.
+ */
+void sin_commutator(struct rpi_state*);
+
+/*
+ * \brief
+ * Switches PWM's at point where they produce same force.
+ * This points are found from IRC position,
+ */
+void simple_ind_dist_commutator(struct rpi_state*);
+
+/*
+ * \brief
+ * Switches PWM's at point where they produce same force
+ */
+void simple_hall_commutator(struct rpi_state*);
+
+
+#endif /*COMMUTATORS*/
#include "rpin.h" /*gpclk*/
#include "rp_spi.h" /*spi*/
#include "misc.h" /*structure for priorities*/
-#include "pxmc_sin_fixed.h" /*to test sin commutation */
#include "pmsm_state.h"
#include "cmd_proc.h"
#include "controllers.h"
+#include "commutators.h"
inline void clk_disable(){
termClock(0);
}
-/*
- * \brief
- * Count minimum value of three numbers.
- * Input values must be in range <-2^28;2^28>.
- */
-int32_t min(int32_t x, int32_t y, int32_t z){
- int32_t diff,sign;
- diff=x-y; /*rozdil*/
- sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze y je vetsi*/
- x=y+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
-
- diff=x-z; /*rozdil*/
- sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze z je vetsi*/
- x=z+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
-
- return x;
-}
/*
* \brief
data->pozice=data->pozice_raw-offset->pozice_raw;
return;
}
-/*
- * \brief
- * Transformace pro uhel pocitany po smeru hodinovych rucicek
- */
-void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int32_t cos){
- *alpha=cos*d+sin*q;
- *beta=-sin*d+cos*q;
- return;
-}
-void alphabeta2pwm3(int32_t * ia, int32_t * ib, int32_t *ic,int32_t alpha, int32_t beta){
- *ia=alpha;
- *ib=-alpha/2+beta*887/1024;
- *ic=-alpha/2-beta*887/1024;
-}
-/*
- * \brief
- * Preocita napeti na jednotlivych civkach na napeti,
- * ktera budou privedena na svorky motoru.
- * Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
- */
-void transDelta(int32_t * u1, int32_t * u2, int32_t *u3, int32_t ub , int32_t uc){
- int32_t t;
-
- /*vypocte napeti tak, aby odpovidaly rozdily*/
- *u1=uc;
- *u2=uc+ub;
- *u3=0;
-
- /*najde zaporne napeti*/
- t=min(*u1,*u2,*u3);
-
- /*dorovna zaporna napeti na nulu*/
- *u1-=t;
- *u2-=t;
- *u3-=t;
-}
-void inv_trans_comm(int duty){
- uint32_t pos;
- int32_t sin, cos;
- int32_t alpha, beta;
- int32_t pwma,pwmb,pwmc;
- pos=rps.index_dist;
- /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
- pos+=717;
- /*use it as cyclic 32-bit logic*/
- pos*=4294967;
- pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
- dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
- alpha>>=16;
- beta>>=16;
- alphabeta2pwm3(&pwma,&pwmb, &pwmc,alpha,beta);
-
- if (pwma<0) pwma=0;
- if (pwmb<0) pwmb=0;
- if (pwmc<0) pwmc=0;
-
-
- rps.t_pwm1=(uint16_t)pwma;
- rps.t_pwm3=(uint16_t)pwmb;
- rps.t_pwm2=(uint16_t)pwmc;
-}
-
-void inv_trans_comm_2(int duty){
- uint32_t pos;
- int32_t sin, cos;
- int32_t alpha, beta;
- int32_t ua,ub,uc;
- int32_t ia,ib,ic;
- int32_t u1,u2,u3;
- pos=rps.index_dist;
-
- pos+=rps.alpha_offset; /*zarovnani faze 'a' s osou 'alpha'*/
- /*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
- pos*=4294967;
- pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
- dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
- alpha>>=16;
- beta>>=16;
-
- alphabeta2pwm3(&ia,&ib, &ic,alpha,beta);
-
- ua=ia;
- ub=ib;
- uc=ic;
-
- transDelta(&u1,&u2, &u3,ub,uc);
-
- rps.pwm1=(uint16_t)u1;
- rps.pwm2=(uint16_t)u2;
- rps.pwm3=(uint16_t)u3;
-}
/**
* Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
return res;
}
-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;
- pos=rps.index_dist;
- int32_t pwm;
- /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
- pos+=38;
- /*use it as cyclic 32-bit logic*/
- pos*=4294967;
- if (duty>=0){ /*clockwise rotation*/
- /* 1st phase */
- sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
- pwm=sin*duty/1024;
- if (pwm<0) pwm=0;
- rps.pwm1=(uint16_t)pwm;
-
- /* 2nd phase */
- sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
- pwm=sin*duty/1024;
- if (pwm<0) pwm=0;
- rps.pwm2=(uint16_t)pwm;
-
- /* 3rd phase */
- sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
- pwm=sin*duty/1024;
- if (pwm<0) pwm=0;
- rps.pwm3=(uint16_t)pwm;
- }else{
- duty=-duty;
-
- /* 1st phase */
- sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
- pwm=sin*duty/1024;
- if (pwm<0) pwm=0;
- rps.pwm1=(uint16_t)pwm;
-
- /* 2nd phase */
- sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
- pwm=sin*duty/1024;
- if (pwm<0) pwm=0;
- rps.pwm2=(uint16_t)pwm;
-
- /* 3rd phase */
- sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
- pwm=sin*duty/1024;
- if (pwm<0) pwm=0;
- rps.pwm3=(uint16_t)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,
- */
-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(int duty){
- if (duty>=0){ /* clockwise - so that position increase */
- /* pwm3 */
- if (data.hal2 && !data.hal3){
- rps.pwm1=0;
- rps.pwm2=0;
- rps.pwm3=duty;
- /* pwm1 */
- }else if (data.hal1 && !data.hal2){
- rps.pwm1=duty;
- rps.pwm2=0;
- rps.pwm3=0;
- /* pwm2 */
- }else if (!data.hal1 && data.hal3){
- rps.pwm1=0;
- rps.pwm2=duty;
- rps.pwm3=0;
- }
- }else{ /*counter-clockwise - position decrease */
- /* pwm3 */
- if (!data.hal2 && data.hal3){
- rps.pwm1=0;
- rps.pwm2=0;
- rps.pwm3=-duty;
- /* pwm1 */
- }else if (!data.hal1 && data.hal2){
- rps.pwm1=-duty;
- rps.pwm2=0;
- rps.pwm3=0;
- /* pwm2 */
- }else if (data.hal1 && !data.hal3){
- rps.pwm1=0;
- rps.pwm2=-duty;
- rps.pwm3=0;
- }
- }
-}
+
/**
* \brief
* Computation of distance to index.
if (rps.index_ok && rps.commutate){
/*simple_ind_dist_commutator(rps.duty);*/
/*sin_commutator(rps.duty);*/
- inv_trans_comm(rps.duty);
- inv_trans_comm_2(rps.duty);
+ inv_trans_comm(&rps);
+ inv_trans_comm_2(&rps);
}else if(!rps.index_ok && rps.commutate){
- simple_hall_commutator(rps.duty);
+ simple_hall_commutator(&rps);
}
/*zalogujeme hodnoty*/
projects / fpga / rpi-motor-control.git / commitdiff