Squashed 'motor_control' changes from f1ca2b2..3ec6431 (#914)

3ec6431 Updating main by next-2: fixing coding style 0add76f Updating main by next 5f8b514 create main branch from next branch Co-authored-by: sdausr <[email protected]>
Xilinx · Sep 7, 2023 · 3c4f7b0 · 3c4f7b0
1 parent 2e6c66f
commit 3c4f7b0
Show file tree

Hide file tree

Showing 13 changed files with 104 additions and 75 deletions.
diff --git a/motor_control/Jenkinsfile b/motor_control/Jenkinsfile
@@ -1,4 +1,4 @@
 @Library('pipeline-library')_
-VitisLibPipeline (branch: 'next', libname: 'xf_motorcontrol', TARGETS: 'hls_csim:hls_csynth:hls_cosim:vitis_sw_emu:vitis_hw_emu:vitis_hw_build',
+VitisLibPipeline (branch: 'main', libname: 'xf_motorcontrol', TARGETS: 'hls_csim:hls_csynth:hls_cosim:vitis_sw_emu:vitis_hw_emu:vitis_hw_build',
                   upstream_dependencies: '',
-		  		  devtest: 'RunDeploy.sh', TOOLVERSION: '2023.1_stable_latest', 'os_types' : 'centos7:rhel7')
+		  		  devtest: 'RunDeploy.sh', TOOLVERSION: '2023.1_released', 'os_types' : 'centos7:rhel7')
diff --git a/motor_control/L1/include/hw/clarke_2p.hpp b/motor_control/L1/include/hw/clarke_2p.hpp
@@ -60,10 +60,8 @@ void Clarke_Inverse_2p_ap_fixed(T_IO& va_out,
     T_MID Valpha = valpha_in;
     T_MID Vbeta = vbeta_in;
     va_out = Valpha;
-#pragma HLS BIND_OP variable = vb_out op = mul impl = dsp
-#pragma HLS BIND_OP variable = vc_out op = mul impl = dsp
     vb_out = (0 - Valpha + Vbeta * sqrt3) / 2;
     vc_out = (0 - Valpha - Vbeta * sqrt3) / 2;
 };
 
-#endif
+#endif
diff --git a/motor_control/L1/include/hw/common.hpp b/motor_control/L1/include/hw/common.hpp
@@ -63,7 +63,7 @@ from Advanced Micro Devices, Inc.
 
 #define COMM_MOTOR_PARA_TL_TH (0)
 
-#define COMM_MOTOR_PARA_DT_SIM (0.0000001)
+#define COMM_MOTOR_PARA_DT_SIM (0.0000005)
 
 #define COMM_MOTOR_PARA_UMAX (24) // to be uniformed with MAX_VAL_PWM
 
@@ -87,6 +87,9 @@ typedef ap_uint<32> t_glb_speed_theta;
 /// Data Type for the data buffer in calculation.
 typedef ap_fixed<32, 16> t_glb_q15q16;
 
+/// Data Type for the smo discrete sample time
+typedef ap_fixed<32, 1> t_glb_smo_time;
+
 template <class T>
 struct RangeDef {
     T min;

diff --git a/motor_control/L1/include/hw/field_weakening.hpp b/motor_control/L1/include/hw/field_weakening.hpp
@@ -90,11 +90,6 @@ static float Sqrt2(float x) {
 #pragma HLS INLINE
 
     float xhalf, res, x2, x3, x4;
-#pragma HLS BIND_OP variable = xhalf op = fmul impl = dsp
-#pragma HLS BIND_OP variable = x2 op = fmul impl = dsp
-#pragma HLS BIND_OP variable = x3 op = fmul impl = dsp
-#pragma HLS BIND_OP variable = x4 op = sub impl = dsp
-#pragma HLS BIND_OP variable = res op = frecip impl = dsp
 
     xhalf = 0.5f * x;
     int i = *(int*)&x;         // get bits for floating VALUE
@@ -142,7 +137,6 @@ void Field_Weakening_T(
 
     ap_fixed<48, 32> squareSum = Vd_decoup * Vd_decoup + Vq_decoup * Vq_decoup;
     float temp;
-#pragma HLS BIND_OP variable = temp op = fsqrt impl = dsp
     temp = std::sqrt(squareSum.to_float());
     Modulation = temp;
 
@@ -167,4 +161,4 @@ void Field_Weakening_T(
     // pid has move outside
 }
 
-#endif // _FIELD_WEAKENING_HPP_
+#endif // _FIELD_WEAKENING_HPP_
diff --git a/motor_control/L1/include/hw/foc.hpp b/motor_control/L1/include/hw/foc.hpp
@@ -347,7 +347,9 @@ enum FOC_Mode {
     MOD_MANUAL_TORQUE_FLUX_FIXED_SPEED,
     MOD_MANUAL_TORQUE_FLUX,
     MOD_MANUAL_TORQUE,
-    MOD_MANUAL_FLUX
+    MOD_MANUAL_FLUX,
+    MOD_MANUAL_TORQUE_FLUX_FIXED_ANGLE,
+    MOD_TOTAL_NUM
 };
 
 } // namespace xf
@@ -424,6 +426,12 @@ void Control_foc_ap_fixed(T_IO& Vd,
             cos_out = cos_gen_angle; // Generated angle cos
             sin_out = sin_gen_angle; // Generated angle sin
             break;
+        case MOD_MANUAL_TORQUE_FLUX_FIXED_ANGLE:
+            Vd = args_vd;     // Sorce Vd from register
+            Vq = args_vq;     // Sorce Vq from register
+            cos_out = cos_in; //  angle cos from aix register
+            sin_out = sin_in; //  angle sin from aix register
+            break;
         case MOD_MANUAL_FLUX:
             Vd = args_vd;
             Vq = Torque_out;
@@ -498,7 +506,8 @@ void foc_core_ap_fixed(
     volatile int& angle_stts,
     volatile int& Ialpha_stts,
     volatile int& Ibeta_stts,
-    volatile int& Ihomopolar_stts) {
+    volatile int& Ihomopolar_stts,
+    volatile int& fixed_angle_args) {
 #pragma HLS INLINE off
 #pragma HLS BIND_STORAGE variable = sin_table type = RAM_2P impl = BRAM
 #pragma HLS BIND_STORAGE variable = cos_table type = RAM_2P impl = BRAM
@@ -583,6 +592,9 @@ void foc_core_ap_fixed(
     apx_fw_kp_args(31, 0) = fw_kp_args;
     t_glb_q15q16 apx_fw_ki_args;
     apx_fw_ki_args(31, 0) = fw_ki_args;
+    t_glb_q15q16 apx_fixed_angle_args;
+    apx_fixed_angle_args(31, 0) = fixed_angle_args;
+    short fixed_angle_args_short = apx_fixed_angle_args;
     // clang-format on
 
     // static T_Vabc SVM_inv_index = MAX_LIM >> 1;
@@ -659,7 +671,10 @@ void foc_core_ap_fixed(
     // t_sincos sin_gen_angle; sin_gen_angle(15, 0) = sin_table[gen_angle];
 
     t_angle Theta = Angle - angle_sh_args; // Apply angle correction
-    Theta = (FOC_mode == MOD_MANUAL_TORQUE_FLUX_FIXED_SPEED) ? gen_angle : Theta;
+    // Theta = (FOC_mode == MOD_MANUAL_TORQUE_FLUX_FIXED_SPEED) ? gen_angle : Theta;
+    Theta = (FOC_mode == MOD_MANUAL_TORQUE_FLUX_FIXED_SPEED)
+                ? gen_angle
+                : (FOC_mode == MOD_MANUAL_TORQUE_FLUX_FIXED_ANGLE) ? fixed_angle_args_short : Theta;
     Theta = (Theta < 0) ? (short)(Theta + VALUE_CPR) : Theta;          // Correct negative angle
     Theta = (Theta >= VALUE_CPR) ? (short)(Theta - VALUE_CPR) : Theta; // Correct angle overload to (0, CPR)
     t_angle Q = (Theta / cpr_div_ppr); // Correct angle overload round to (0. cpr_div_ppr)
@@ -907,7 +922,7 @@ void foc_core_ap_fixed(
     t_glb_q15q16 apx_speed_Ihomopolar_stts = Ihomopolar;
 
     t_glb_q15q16 apx_speed_stts = RPM;
-    t_glb_q15q16 apx_angle_stts = Theta;
+    t_glb_q15q16 apx_angle_stts = Angle;
 
     speed_stts = apx_speed_stts.range(31, 0);
     angle_stts = apx_angle_stts.range(31, 0);
@@ -989,6 +1004,7 @@ void foc_core_ap_fixed(
  * @param  Ialpha_stts      Output status to monitor Ialpha (output of Clarke_Direct) 
  * @param  Ibeta_stts       Output status to monitor Ibeta (output of Clarke_Direct) 
  * @param  Ihomopolar_stts  Output status to monitor Ihomopolar (output of Clarke_Direct) 
+ * @param  fixed_angle_args Input Args for MOD_MANUAL_TORQUE_FLUX_FIXED_ANGLE 
  * @param  trip_cnt         Input Args to set the trip count of foc loop
  */
 // clang-format on
@@ -1044,6 +1060,7 @@ void hls_foc_strm_ap_fixed(
     volatile int& Ialpha_stts,
     volatile int& Ibeta_stts,
     volatile int& Ihomopolar_stts,
+    volatile int& fixed_angle_args,
     volatile long& trip_cnt) {
     short cpr_div_ppr = VALUE_CPR / ppr_args;
     unsigned int tab_map_factor = ((COMM_MACRO_TLB_LENTH * (unsigned int)ppr_args) << 16) / VALUE_CPR;
@@ -1082,7 +1099,7 @@ void hls_foc_strm_ap_fixed(
             //
             id_stts, flux_acc_stts, flux_err_stts, flux_out_stts, iq_stts, torque_acc_stts, torque_err_stts,
             torque_out_stts, speed_stts, speed_acc_stts, speed_err_stts, speed_out_stts, angle_stts, Ialpha_stts,
-            Ibeta_stts, Ihomopolar_stts);
+            Ibeta_stts, Ihomopolar_stts, fixed_angle_args);
 
         T_IO va = Va_out;
         T_IO vb = Vb_out;
@@ -1154,6 +1171,7 @@ void hls_foc_strm_int(
     volatile int& Ialpha_stts,
     volatile int& Ibeta_stts,
     volatile int& Ihomopolar_stts,
+    volatile int& fixed_angle_args,
     volatile long& trip_cnt) {
     short cpr_div_ppr = VALUE_CPR / ppr_args;
     unsigned int tab_map_factor = ((COMM_MACRO_TLB_LENTH * (unsigned int)ppr_args) << 16) / VALUE_CPR;
@@ -1201,7 +1219,7 @@ void hls_foc_strm_int(
             //
             id_stts, flux_acc_stts, flux_err_stts, flux_out_stts, iq_stts, torque_acc_stts, torque_err_stts,
             torque_out_stts, speed_stts, speed_acc_stts, speed_err_stts, speed_out_stts, angle_stts, Ialpha_stts,
-            Ibeta_stts, Ihomopolar_stts);
+            Ibeta_stts, Ihomopolar_stts, fixed_angle_args);
 
         t_glb_q15q16 apx_va = Va_out;
         t_glb_q15q16 apx_vb = Vb_out;

diff --git a/motor_control/L1/include/hw/park.hpp b/motor_control/L1/include/hw/park.hpp
@@ -58,12 +58,6 @@ void Park_Direct_ap_fixed(
     T_MID cos_theta = (T_MID)cos_theta_in;
     T_MID sin_theta = (T_MID)sin_theta_in;
     T_MID Ia_cos, Ib_sin, Ib_cos, Ia_sin, Id, Iq;
-#pragma HLS BIND_OP variable = Ia_cos op = mul impl = dsp
-#pragma HLS BIND_OP variable = Ib_sin op = mul impl = dsp
-#pragma HLS BIND_OP variable = Ib_cos op = mul impl = dsp
-#pragma HLS BIND_OP variable = Ia_sin op = mul impl = dsp
-#pragma HLS BIND_OP variable = Id op = add impl = dsp
-#pragma HLS BIND_OP variable = Iq op = sub impl = dsp
 
     Ia_cos = (T_MID)Ialpha * cos_theta;
     Ib_sin = (T_MID)Ibeta * sin_theta;
@@ -92,12 +86,6 @@ void Park_Inverse_ap_fixed(
     T_MID cos_theta = (T_MID)cos_theta_in;
     T_MID sin_theta = (T_MID)sin_theta_in;
     T_MID Vd_cos, Vq_sin, Vq_cos, Vd_sin, va_inv, vb_inv;
-#pragma HLS BIND_OP variable = Vd_cos op = mul impl = dsp
-#pragma HLS BIND_OP variable = Vq_sin op = mul impl = dsp
-#pragma HLS BIND_OP variable = Vq_cos op = mul impl = dsp
-#pragma HLS BIND_OP variable = Vd_sin op = mul impl = dsp
-#pragma HLS BIND_OP variable = va_inv op = sub impl = dsp
-#pragma HLS BIND_OP variable = vb_inv op = add impl = dsp
     Vd_cos = (T_MID)Vd * cos_theta;
     Vq_sin = (T_MID)Vq * sin_theta;
     Vq_cos = (T_MID)Vq * cos_theta;

diff --git a/motor_control/L1/include/hw/pid_control.hpp b/motor_control/L1/include/hw/pid_control.hpp
@@ -67,35 +67,28 @@ void PID_Control_ap_fixed(T_IO& Res_out,
                           bool mode_change) {
 #pragma HLS INLINE
     T_ERR err;
-#pragma HLS BIND_OP variable = err op = add impl = dsp
     err = Sp - in_Measured;
 
     T_ACC acc;
-#pragma HLS BIND_OP variable = acc op = add impl = dsp
     // acc = mode_change==true ? (T_ACC)0 : I_err_prev + err;
     if (mode_change == true)
         acc = 0;
     else
         acc = I_err_prev + err;
 
     T_ERR diff;
-#pragma HLS BIND_OP variable = diff op = add impl = dsp
     diff = err - Error_prev;
 
     T_ERR P;
-#pragma HLS BIND_OP variable = P op = mul impl = dsp
     P = Kp * err;
 
     T_ERR I;
-#pragma HLS BIND_OP variable = I op = mul impl = dsp
     I = Ki * acc;
 
     T_ERR D;
-#pragma HLS BIND_OP variable = D op = mul impl = dsp
     D = Kd * diff;
 
     T_ACC sum;
-#pragma HLS BIND_OP variable = sum op = add impl = dsp
     sum = (P + I + D);
     Res_out = (T_IO)sum;
     Error_prev = err;

diff --git a/motor_control/L1/include/hw/qei.hpp b/motor_control/L1/include/hw/qei.hpp
@@ -430,10 +430,10 @@ void calcCounter(hls::stream<QEI_EdgeInfo>& strm_cntEdge,
 #endif
                     tmp_rpm = tmp_rpm / div;
 
-                    if (dir)
-                        speed_rpm = tmp_rpm; //-tmp_rpm;
+                    if (dir == Dirction_QEI::clockwise_p)
+                        speed_rpm = tmp_rpm; // clockwise_p
                     else
-                        speed_rpm = tmp_rpm;
+                        speed_rpm = -tmp_rpm; // clockwise_n
                     ap_uint<32> tmp;
                     tmp.range(15, 0) = speed_rpm;
                     tmp.range(31, 16) = counter >> 2; // 4X mode : using any type of edges of A or B

diff --git a/motor_control/L1/tests/IP_FOC/src/foc_demo.hpp b/motor_control/L1/tests/IP_FOC/src/foc_demo.hpp
@@ -103,16 +103,16 @@ void foc_demo(
     // Inout for parameters
     int args[FOC_ARGS_SIZE]);
 // clang-format off
-static const char* string_FOC_Mode[MOD_MANUAL_FLUX + 1] = {
+static const char* string_FOC_Mode[MOD_TOTAL_NUM] = {
     "MOD_STOPPED                       ", 
     "MOD_SPEED_WITH_TORQUE             ",
     "MOD_TORQUE_WITHOUT_SPEED          ",
     "MOD_FLUX                          ",
-    // expert modes
     "MOD_MANUAL_TORQUE_FLUX_FIXED_SPEED",
     "MOD_MANUAL_TORQUE_FLUX            ",
     "MOD_MANUAL_TORQUE                 ",
-    "MOD_MANUAL_FLUX                   "};
+    "MOD_MANUAL_FLUX                   ",
+    "MOD_MANUAL_TORQUE_FLUX_FIXED_ANGLE"};
 
 static const char* string_FOC_PARA[FOC_ARGS_SIZE] = {
     "PPR       ",
@@ -208,6 +208,7 @@ struct FocAxiParameters {
     T Ialpha_stts;
     T Ibeta_stts;
     T Ihomopolar_stts;
+    T fixed_angle_args;
     long trip_cnt;
     FocAxiParameters() { Init(); }
     void Init() {
@@ -216,6 +217,7 @@ struct FocAxiParameters {
         sample_interval_minus1_args = 0;
         control_mode_args = FOC_Mode::MOD_STOPPED;
         control_fixperiod_args = 0;
+        fixed_angle_args = 0;
         flux_sp_args = 0;
         flux_kp_args = 0;
         flux_ki_args = 0;
@@ -296,6 +298,7 @@ struct FocAxiParameters {
         fprintf(fp, "\tIbeta");
         fprintf(fp, "\tIhomopolar");
         fprintf(fp, "\trip_cnt");
+        fprintf(fp, "\tfixed_angle_args");
     }
     void printParameters(FILE* fp) {
         assert(fp);
@@ -344,6 +347,7 @@ struct FocAxiParameters {
         fprintf(fp, "\t%5.6f", Ibeta_stts.to_float());
         fprintf(fp, "\t%5.6f", Ihomopolar_stts.to_float());
         fprintf(fp, "\t%d", trip_cnt);
+        fprintf(fp, "\t%d", fixed_angle_args);
     }
     void sprintParameters(char* strm, int idx) {
         assert(strm);
@@ -467,7 +471,8 @@ struct FocAxiParameters {
         fout << Va_cmd_stts << ' ';
         fout << Vb_cmd_stts << ' ';
         fout << Vc_cmd_stts << ' ';
-        fout << trip_cnt << ' ' << std::endl;
+        fout << trip_cnt << ' ';
+        fout << fixed_angle_args << ' ' << std::endl;
         fout.close();
     }
 
@@ -519,6 +524,7 @@ struct FocAxiParameters {
         istr >> Vb_cmd_stts;
         istr >> Vc_cmd_stts;
         istr >> trip_cnt;
+        istr >> fixed_angle_args;
         fin.close();
     }
     void printPIDs(const char* head) {

diff --git a/motor_control/L1/tests/IP_FOC/src/ip_foc.cpp b/motor_control/L1/tests/IP_FOC/src/ip_foc.cpp
@@ -79,7 +79,8 @@ void hls_foc_periodic_ap_fixed(
     volatile int& Vc_cmd_stts,
     volatile int& Ialpha_stts, 
     volatile int& Ibeta_stts, 
-    volatile int& Ihomopolar_stts) {
+    volatile int& Ihomopolar_stts,
+    volatile int& fixed_angle_args) {
     #pragma HLS interface axis port = Ia
     #pragma HLS interface axis port = Ib
     #pragma HLS interface axis port = Ic
@@ -127,6 +128,7 @@ void hls_foc_periodic_ap_fixed(
     #pragma HLS interface s_axilite port = Ialpha_stts     bundle = foc_args
     #pragma HLS interface s_axilite port = Ibeta_stts      bundle = foc_args
     #pragma HLS interface s_axilite port = Ihomopolar_stts bundle = foc_args
+    #pragma HLS interface s_axilite port = fixed_angle_args bundle = foc_args
 
     #pragma HLS interface s_axilite port = return bundle = foc_args
     long trip_cnt = 0x7fffffffffffffffL;
@@ -141,7 +143,7 @@ void hls_foc_periodic_ap_fixed(
             //
             id_stts, flux_acc_stts, flux_err_stts, flux_out_stts, iq_stts, torque_acc_stts, torque_err_stts,
             torque_out_stts, speed_stts, speed_acc_stts, speed_err_stts, speed_out_stts, angle_stts,
-            Va_cmd_stts, Vb_cmd_stts, Vc_cmd_stts, Ialpha_stts, Ibeta_stts, Ihomopolar_stts, trip_cnt);
+            Va_cmd_stts, Vb_cmd_stts, Vc_cmd_stts, Ialpha_stts, Ibeta_stts, Ihomopolar_stts, fixed_angle_args, trip_cnt);
 }
 // clang-format on
 
@@ -195,7 +197,8 @@ void hls_foc_periodic_int( // used for testing synthesizability of hls_foc_strm_
     volatile int& Vc_cmd_stts,
     volatile int& Ialpha_stts,
     volatile int& Ibeta_stts,
-    volatile int& Ihomopolar_stts) {
+    volatile int& Ihomopolar_stts,
+    volatile int& fixed_angle_args) {
 #pragma HLS interface axis port = Ia
 #pragma HLS interface axis port = Ib
 #pragma HLS interface axis port = Ic
@@ -244,6 +247,7 @@ void hls_foc_periodic_int( // used for testing synthesizability of hls_foc_strm_
 #pragma HLS interface s_axilite port = Ialpha_stts bundle = foc_args
 #pragma HLS interface s_axilite port = Ibeta_stts bundle = foc_args
 #pragma HLS interface s_axilite port = Ihomopolar_stts bundle = foc_args
+#pragma HLS interface s_axilite port = fixed_angle_args bundle = foc_args
 
 #pragma HLS interface s_axilite port = return bundle = foc_args
 
@@ -259,7 +263,7 @@ void hls_foc_periodic_int( // used for testing synthesizability of hls_foc_strm_
         //
         id_stts, flux_acc_stts, flux_err_stts, flux_out_stts, iq_stts, torque_acc_stts, torque_err_stts,
         torque_out_stts, speed_stts, speed_acc_stts, speed_err_stts, speed_out_stts, angle_stts, Va_cmd_stts,
-        Vb_cmd_stts, Vc_cmd_stts, Ialpha_stts, Ibeta_stts, Ihomopolar_stts, trip_cnt);
+        Vb_cmd_stts, Vc_cmd_stts, Ialpha_stts, Ibeta_stts, Ihomopolar_stts, fixed_angle_args, trip_cnt);
 }
 
 // hls_foc_oneSample_ap_fixed is mainly used for generating testing files for cosim
@@ -313,7 +317,8 @@ void hls_foc_oneSample_ap_fixed(
     volatile int& Vc_cmd_stts,
     volatile int& Ialpha_stts,
     volatile int& Ibeta_stts,
-    volatile int& Ihomopolar_stts) {
+    volatile int& Ihomopolar_stts,
+    volatile int& fixed_angle_args) {
 #pragma HLS interface axis port = Ia
 #pragma HLS interface axis port = Ib
 #pragma HLS interface axis port = Ic
@@ -361,6 +366,7 @@ void hls_foc_oneSample_ap_fixed(
 #pragma HLS interface s_axilite port = Ialpha_stts bundle = foc_args
 #pragma HLS interface s_axilite port = Ibeta_stts bundle = foc_args
 #pragma HLS interface s_axilite port = Ihomopolar_stts bundle = foc_args
+#pragma HLS interface s_axilite port = fixed_angle_args bundle = foc_args
 
 // #pragma HLS interface ap_none port = ppr_args
 // #pragma HLS interface ap_none port = control_mode_args
@@ -413,5 +419,5 @@ void hls_foc_oneSample_ap_fixed(
         //
         id_stts, flux_acc_stts, flux_err_stts, flux_out_stts, iq_stts, torque_acc_stts, torque_err_stts,
         torque_out_stts, speed_stts, speed_acc_stts, speed_err_stts, speed_out_stts, angle_stts, Va_cmd_stts,
-        Vb_cmd_stts, Vc_cmd_stts, Ialpha_stts, Ibeta_stts, Ihomopolar_stts, trip_cnt);
+        Vb_cmd_stts, Vc_cmd_stts, Ialpha_stts, Ibeta_stts, Ihomopolar_stts, fixed_angle_args, trip_cnt);
 }