From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Wed, 20 May 2015 19:43:24 +0000 (+0200)
Subject: Regulation function now implemented with use of polymorphism.
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/commitdiff_plain/32aaacc65b9f894bea0897421277f71375a7f825

Regulation function now implemented with use of polymorphism.
---

diff --git a/pmsm-control/test_sw/cmd_proc.c b/pmsm-control/test_sw/cmd_proc.c
index 6846df5..66e9be8 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -62,8 +62,7 @@ static void start(struct rpi_state* state){
 static void stop(struct rpi_state* state){
 	sem_wait(&state->thd_par_sem);
 	setCommutationOff(state);
-	state->pos_reg_ena=0;
-	state->spd_reg_ena=0;
+	setRegulationOff(state);
 	state->duty=0;
 	state->pwm1=0;
 	state->pwm2=0;
@@ -80,8 +79,7 @@ static void dutySet(struct rpi_state* state, int duty){
 	if (duty>MAX_DUTY) duty=MAX_DUTY;
 	if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
 	state->duty=duty;
-	state->pos_reg_ena=0;
-	state->spd_reg_ena=0;
+	setRegulationOff(state);
 	setCommutationOn(state);
 	sem_post(&state->thd_par_sem);
 }
@@ -92,8 +90,7 @@ static void dutySet(struct rpi_state* state, int duty){
  */
 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;
+	setRegulationPos(state);
 	setCommutationOn(state);
 	state->desired_pos=pos;
 	sem_post(&state->thd_par_sem);
@@ -124,8 +121,7 @@ static void setSpeed(struct rpi_state* state, int speed){
 	if (speed>MAX_SPEED) speed=MAX_SPEED;
 	if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
 	sem_wait(&state->thd_par_sem);
-	state->pos_reg_ena=0;
-	state->spd_reg_ena=1;
+	setRegulationSpeed(state);
 	setCommutationOn(state);
 	state->desired_spd=speed;
 	sem_post(&state->thd_par_sem);
diff --git a/pmsm-control/test_sw/controllers.c b/pmsm-control/test_sw/controllers.c
index 059ade6..bdf5ad9 100644
--- a/pmsm-control/test_sw/controllers.c
+++ b/pmsm-control/test_sw/controllers.c
@@ -1,6 +1,13 @@
 
 #include "controllers.h"
 
+/**
+ * \brief No regulation.
+ */
+inline void zero_controller(struct rpi_state* state){
+	return;
+}
+
 /*
  * \brief
  * Very simple PID regulator.
diff --git a/pmsm-control/test_sw/controllers.h b/pmsm-control/test_sw/controllers.h
index 520745e..5b24148 100644
--- a/pmsm-control/test_sw/controllers.h
+++ b/pmsm-control/test_sw/controllers.h
@@ -21,18 +21,23 @@
 #define PID_P_S		0.16 		/*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
 #define PID_I_S		0.0134
 
+/**
+ * \brief No regulation.
+ */
+inline void zero_controller(struct rpi_state*);
+
 /**
  * \brief
  * Very simple position P regulator.
  * Now only with P-part so that the error doesnt go to zero.
  */
-void pos_pid(struct rpi_state* state);
+void pos_pid(struct rpi_state*);
 
 /**
  * \brief
  * Very simple PI speed regulator.
  */
-void spd_pid(struct rpi_state* state);
+void spd_pid(struct rpi_state*);
 
 
 #endif /*CONTROLLERS*/
diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index ac3563d..f0fc982 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -61,7 +61,8 @@ struct rpi_state rps={
 	.log_col=0,
 	.doLogs=0,
 	.alpha_offset=960,
-	.main_commutator=zero_commutator	/*komutace vypnuta*/
+	.main_commutator=zero_commutator,	/* komutace vypnuta */
+	.main_controller=zero_controller	/* rizeni vypnuto */
 };
 
 
@@ -154,11 +155,7 @@ void * control_loop(void* param){
 			}
 
 			/* pocitame sirku plneni podle potreb rizeni*/
-			if (rps.pos_reg_ena){           /*pozicni rizeni*/
-				pos_pid(&rps);
-			}else if(rps.spd_reg_ena){	/*rizeni na rychlost*/
-				spd_pid(&rps);
-			}
+			rps.main_controller(&rps);
 
 			/* sirku plneni prepocteme na jednotlive pwm */
 			rps.main_commutator(&rps);
diff --git a/pmsm-control/test_sw/pmsm_state.c b/pmsm-control/test_sw/pmsm_state.c
index 3938dc7..acfd347 100644
--- a/pmsm-control/test_sw/pmsm_state.c
+++ b/pmsm-control/test_sw/pmsm_state.c
@@ -1,5 +1,6 @@
 #include "pmsm_state.h"
 #include "commutators.h"
+#include "controllers.h"
 
 /**
  * Index Lost.
@@ -36,3 +37,32 @@ inline void setCommutationOff(struct rpi_state* this){
 	this->commutate=0;
 	this->main_commutator=zero_commutator;
 }
+
+/**
+ * Turn on speed regulation.
+ */
+inline void setRegulationSpeed(struct rpi_state* this){
+	this->spd_reg_ena=1;
+	this->pos_reg_ena=0;
+	this->main_controller=spd_pid;
+}
+
+/**
+ * \brief Turn on position regulation
+ */
+inline void setRegulationPos(struct rpi_state* this){
+	this->spd_reg_ena=0;
+	this->pos_reg_ena=1;
+	this->main_controller=pos_pid;
+}
+
+/**
+ * \brief Turn off regulation.
+ */
+inline void setRegulationOff(struct rpi_state* this){
+	this->spd_reg_ena=0;
+	this->pos_reg_ena=0;
+	this->main_controller=zero_controller;
+
+
+}
diff --git a/pmsm-control/test_sw/pmsm_state.h b/pmsm-control/test_sw/pmsm_state.h
index 583eb73..6fc77f4 100644
--- a/pmsm-control/test_sw/pmsm_state.h
+++ b/pmsm-control/test_sw/pmsm_state.h
@@ -73,4 +73,19 @@ inline void setCommutationOn(struct rpi_state*);
  */
 inline void setCommutationOff(struct rpi_state*);
 
+/**
+ * Turn on speed regulation.
+ */
+inline void setRegulationSpeed(struct rpi_state*);
+
+/**
+ * \brief Turn on position regulation
+ */
+inline void setRegulationPos(struct rpi_state*);
+
+/**
+ * \brief Turn off regulation.
+ */
+inline void setRegulationOff(struct rpi_state*);
+
 #endif /*PMSM_STATE*/