From 85772a932e99215c8c86d92feb203ee928df0e5f Mon Sep 17 00:00:00 2001
From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Sat, 16 May 2015 16:40:50 +0200
Subject: [PATCH] Added speed regulation.

---
 pmsm-control/test_sw/cmd_proc.c   | 29 +++++++++++++++++++++++++----
 pmsm-control/test_sw/main_pmsm.c  | 12 ++++++++----
 pmsm-control/test_sw/pmsm_state.h |  4 +++-
 3 files changed, 36 insertions(+), 9 deletions(-)

diff --git a/pmsm-control/test_sw/cmd_proc.c b/pmsm-control/test_sw/cmd_proc.c
index 69c17b8..640002f 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -19,9 +19,10 @@ static void printHelp(){
 	puts("stop - Vypne komutaci, pwm a rizeni.");
 	puts("0 - Vypne komutaci, pwm a rizeni.");
 	puts("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");
-	puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
 	puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
+	puts("spd:[hodnota] - Zapne rizeni na danou rychlost.");
 
+	puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
 	puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
 	puts("exit - Bezpecne ukonci program.");
 }
@@ -69,11 +70,13 @@ static void stop(struct rpi_state* state){
  */
 static void dutySet(struct rpi_state* state, int duty){
 	sem_wait(&state->thd_par_sem);
-	if (duty>512) duty=512;
-	if (duty<-512) duty=-512;/*paranoia*/
+	if (duty>MAX_DUTY) duty=MAX_DUTY;
+	if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
 	state->duty=duty;
-	state->commutate=1;
 	state->pos_reg_ena=0;
+	state->spd_reg_ena=0;
+	state->commutate=1;
+	printf("duty=");
 	sem_post(&state->thd_par_sem);
 }
 
@@ -83,6 +86,7 @@ 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;
 	state->commutate=1;
 	state->desired_pos=pos;
@@ -106,6 +110,20 @@ static void exitApp(struct rpi_state* state){
 	/* Note: atexit() is set before*/
 	exit(0);
 }
+/*
+ * \brief
+ * Set speed.
+ */
+static void setSpeed(struct rpi_state* state, int speed){
+	sem_wait(&state->thd_par_sem);
+	if (speed>MAX_SPEED) speed=MAX_SPEED;
+	if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
+	state->pos_reg_ena=0;
+	state->spd_reg_ena=1;
+	state->commutate=1;
+	state->desired_spd=speed;
+	sem_post(&state->thd_par_sem);
+}
 
 /**
  * \brief
@@ -139,6 +157,8 @@ void poll_cmd(struct rpi_state* state){
                         changePrint();
                 }else if (!strcmp(cmd,"exit")){
                         exitApp(state);
+                }else if (!strcmp(cmd,"spd")){
+                        setSpeed(state, val);
                 }
         }
 
@@ -187,6 +207,7 @@ void printData(struct rpi_state* state){
 	printf("\npozice=%ld\n",data_p.pozice);
 	printf("rychlost=%d\n",s.speed);
 	printf("chtena pozice=%d\n",s.desired_pos);
+	printf("chtena rychlost=%d\n",s.desired_spd);
 	printf("transfer count=%u\n",s.tf_count);
 	printf("raw_pozice=%u\n",data_p.pozice_raw);
 	printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 48fcf1e..dd2372d 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -25,9 +25,9 @@
 #include "pmsm_state.h"
 #include "cmd_proc.h"
 
-#define MAX_DUTY	170
+
 #define PID_P		0.3
-#define PID_P_S		0.3
+#define PID_P_S		0.7
 
 #define PRIOR_KERN	50
 #define PRIOR_HIGH	49
@@ -539,7 +539,7 @@ inline void pos_pid(){
  */
 inline void spd_pid(){
 	int duty_tmp;
-	duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
+	duty_tmp = PID_P_S*(rps.desired_spd - rps.speed);
 	if (duty_tmp>MAX_DUTY){
 		rps.duty=MAX_DUTY;
 	}else if (duty_tmp<-MAX_DUTY){
@@ -601,10 +601,14 @@ void * read_data(void* param){
 			}else{ /*index je v poradku*/
 				comIndDist();		/*vypocet vzdalenosti indexu*/
 			}
+
 			/* pocitame sirku plneni podle potreb rizeni*/
-			if (rps.pos_reg_ena){
+			if (rps.pos_reg_ena){           /*pozicni rizeni*/
 				pos_pid();
+			}else if(rps.spd_reg_ena){	/*rizeni na rychlost*/
+				spd_pid();
 			}
+
 			/* sirka plneni prepoctena na jednotlive pwm */
 			if (rps.index_ok && rps.commutate){
 				/*simple_ind_dist_commutator(rps.duty);*/
diff --git a/pmsm-control/test_sw/pmsm_state.h b/pmsm-control/test_sw/pmsm_state.h
index 8c80265..3cd648f 100644
--- a/pmsm-control/test_sw/pmsm_state.h
+++ b/pmsm-control/test_sw/pmsm_state.h
@@ -4,7 +4,9 @@
 #include <stdint.h>
 #include <semaphore.h>
 
-#define OLD_POS_NUM 50
+#define OLD_POS_NUM 	50
+#define MAX_DUTY	170
+#define MAX_SPEED 	(7*OLD_POS_NUM)
 
 struct rpi_in;
 
-- 
2.39.2