From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Thu, 16 Apr 2015 19:35:51 +0000 (+0200)
Subject: Added simple commutator.
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/commitdiff_plain/7b66566a24a0bccd2c061f59c35cdfc7fb88f354

Added simple commutator.
---

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 7d707da..65c6200 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -36,6 +36,8 @@ struct rpi_in data;
 
 uint8_t test;
 uint16_t pwm1, pwm2, pwm3;
+char commutate;
+uint16_t simple_hall_duty;
 
 
 /**
@@ -115,6 +117,8 @@ void printData(struct rpi_in data){
 	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);
+	if (commutate) printf("commutation in progress\n");
 }
 void prepare_tx(uint8_t * tx){
 
@@ -185,7 +189,29 @@ void * pos_monitor(void* param){
 	}
 	return (void*)0;
 }
-
+/*
+ * \brief
+ * Test function to be placed in controll loop.
+ * Clockwise rotation with PWM with 64 out of 2048 duty cycle.
+ */
+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;
+	}
+}
 /**
  * Funkce pravidelne vycita data z motoru
  */
@@ -199,6 +225,9 @@ void * read_data(void* param){
 			prepare_tx(tx);
 			data = spi_read(tx);
 			substractOffset(&data,&pocatek);
+			if (commutate){
+				simple_hall_commutator(data);
+			}
 			usleep(1000);				/*1kHz*/
 		}
 }
@@ -208,7 +237,7 @@ void * read_data(void* param){
  */
 
 int main(){
-	uint16_t tmp;
+	unsigned int tmp;
 
 	/*nastaveni priorit vlaken*/
 	struct thread_param tsp;
@@ -242,22 +271,41 @@ int main(){
 
 	/*muzeme zavrit semafor*/
 	sem_destroy(&thd_par_sem);
-
+	/*
+	 * Note:
+	 * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
+	 * k preukladani hodnot na promenne test. Dost divne.
+	 */
 	while (1){
 		scanf("%u",&tmp);
-		printf("volba=%x\n",tmp);
+		printf("volba=%u\n",tmp);
 		switch (tmp){
 		case 1:
-			scanf("%u",&pwm1);
+			scanf("%u",&tmp);
+			pwm1=tmp&0xFFF;
 			break;
 		case 2:
-			scanf("%u",&pwm2);
+			scanf("%u",&tmp);
+			pwm2=tmp&0xFFF;
 			break;
 		case 3:
-			scanf("%u",&pwm3);
+			scanf("%u",&tmp);
+			pwm3=tmp&0xFFF;
 			break;
 		case 4:
-			scanf("%u",&test);
+			scanf("%u",&tmp);
+			test=tmp&0xFF;
+			break;
+		case 5:
+			commutate=!commutate;
+			/* switch off pwms at the end of commutation */
+			pwm1&=commutate*0xFFFF;
+			pwm2&=commutate*0xFFFF;
+			pwm3&=commutate*0xFFFF;
+			break;
+		case 6:
+			scanf("%u",&tmp);
+			simple_hall_duty=tmp&0xFFF;
 			break;
 
 		default: