From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Sat, 18 Apr 2015 13:30:27 +0000 (+0200)
Subject: Added counter-clockwise simple hall comutator.
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/commitdiff_plain/d3fd9876cb9ee9c46bdf3a2acf81e11c27ffd54c

Added counter-clockwise simple hall comutator.
---

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 65c6200..2757542 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -37,7 +37,7 @@ struct rpi_in data;
 uint8_t test;
 uint16_t pwm1, pwm2, pwm3;
 char commutate;
-uint16_t simple_hall_duty;
+int simple_hall_duty;
 
 
 /**
@@ -117,7 +117,7 @@ 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);
+	printf("duty=%d\n",simple_hall_duty);
 	if (commutate) printf("commutation in progress\n");
 }
 void prepare_tx(uint8_t * tx){
@@ -192,24 +192,43 @@ void * pos_monitor(void* param){
 /*
  * \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;
+		}
 	}
 }
 /**
@@ -226,7 +245,7 @@ void * read_data(void* param){
 			data = spi_read(tx);
 			substractOffset(&data,&pocatek);
 			if (commutate){
-				simple_hall_commutator(data);
+				simple_hall_commutator(data,simple_hall_duty);
 			}
 			usleep(1000);				/*1kHz*/
 		}
@@ -304,8 +323,8 @@ int main(){
 			pwm3&=commutate*0xFFFF;
 			break;
 		case 6:
-			scanf("%u",&tmp);
-			simple_hall_duty=tmp&0xFFF;
+			scanf("%d",&tmp);
+			simple_hall_duty=tmp;
 			break;
 
 		default: