From b98f70ee3eed3af0cbbc9d5869ac1e7626534ef4 Mon Sep 17 00:00:00 2001
From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Wed, 20 May 2015 16:48:13 +0200
Subject: [PATCH] PI reg. constants modified according rltool results. Added
 possibility to interactively change offset between 'alpha' and 'a' exis.

---
 pmsm-control/test_sw/cmd_proc.c   | 16 ++++++++++++++++
 pmsm-control/test_sw/main_pmsm.c  | 15 +++++++++++----
 pmsm-control/test_sw/pmsm_state.h |  1 +
 3 files changed, 28 insertions(+), 4 deletions(-)

diff --git a/pmsm-control/test_sw/cmd_proc.c b/pmsm-control/test_sw/cmd_proc.c
index 9625c1d..cc92a0b 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -23,6 +23,7 @@ static void printHelp(){
 	puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
 	puts("spd:[hodnota] - Zapne rizeni na danou rychlost.");
 	puts("log - Spusti nebo ulozi logovani.");
+	puts("ao:[hodnota] - Prenastavi alpha offset.");
 
 	puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
 	puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
@@ -129,6 +130,18 @@ static void setSpeed(struct rpi_state* state, int speed){
 	sem_post(&state->thd_par_sem);
 }
 
+/*
+ * \brief
+ * Set alpha offset.
+ */
+static void setAlphaOff(struct rpi_state* state, int offset){
+	if (offset<0) offset*=-1;
+	offset%=1000;
+	sem_wait(&state->thd_par_sem);
+	state->alpha_offset=(unsigned short)offset;
+	sem_post(&state->thd_par_sem);
+}
+
 /*
  * \brief
  * Initialize logs
@@ -232,6 +245,8 @@ void poll_cmd(struct rpi_state* state){
                         setSpeed(state, val);
                 }else if (!strcmp(cmd,"log")){
                         setLogSEM(state);
+                }else if (!strcmp(cmd,"ao")){
+                	setAlphaOff(state,val);
                 }
         }
 
@@ -281,6 +296,7 @@ void printData(struct rpi_state* state){
 	printf("rychlost=%d\n",s.speed);
 	printf("chtena pozice=%d\n",s.desired_pos);
 	printf("chtena rychlost=%d\n",s.desired_spd);
+	printf("alpha offset=%hu\n",s.alpha_offset);
 	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 4d58037..e4ec9ac 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -27,8 +27,14 @@
 
 
 #define PID_P		0.3
-#define PID_P_S		0.8	/*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
-#define PID_I_S		0.01
+
+/* 	RL-tool results from first order system approx	*/
+/*	P=0.16 I=13,4/freq=0.013			*/
+/*	Hodnoty upraveny podle skutecnych vysledku	*/
+/*	P=0.8	I=0.01					*/
+
+#define PID_P_S		0.16 		/*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
+#define PID_I_S		0.0134
 
 #define PRIOR_KERN	50
 #define PRIOR_HIGH	49
@@ -60,7 +66,8 @@ struct rpi_state rps={
 	.spd_err_sum=0,
 	.log_col_count=0,	/* pocet radku zaznamu */
 	.log_col=0,
-	.doLogs=0
+	.doLogs=0,
+	.alpha_offset=960
 };
 
 /**
@@ -318,7 +325,7 @@ void inv_trans_comm_2(int duty){
 	int32_t u1,u2,u3;
 	pos=rps.index_dist;
 
-	pos+=960; /*zarovnani faze 'a' s osou 'alpha'*/
+	pos+=rps.alpha_offset; /*zarovnani faze 'a' s osou 'alpha'*/
 
 	/*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
 	pos*=4294967;
diff --git a/pmsm-control/test_sw/pmsm_state.h b/pmsm-control/test_sw/pmsm_state.h
index 20e60e6..b3a3125 100644
--- a/pmsm-control/test_sw/pmsm_state.h
+++ b/pmsm-control/test_sw/pmsm_state.h
@@ -36,6 +36,7 @@ struct rpi_state{
 	char commutate;			/* zapina prepocet duty na jednotlive pwm */
 	char pos_reg_ena;		/* position regulation enable */
 	char spd_reg_ena;		/* speed rugulation enable */
+	unsigned short alpha_offset;	/* offset between 'alpha' and 'a' axis */
 
 	int spd_err_sum;		/* for speed pid regulator */
 
-- 
2.39.2