pmsm-control/test_sw/main_pmsm.c

   1 /**
   2  * \file main_pmsm.c
   3  * \author Martin Prudek
   4  * \brief Mainfile pro pmsm control.
   5  */
   6
   7 #ifndef NULL
   8 #define NULL (void*) 0
   9 #endif /*NULL*/
  10
  11
  12 #include <stdlib.h>     /*exit*/
  13 #include <signal.h>     /*signal handler Ctrl+C*/
  14 #include <stdio.h>      /*printf*/
  15 #include <sched.h>      /*sheduler*/
  16 #include <unistd.h>     /*usleep*/
  17 #include <pthread.h>    /*threads*/
  18 #include <time.h>       /*nanosleep*/
  19
  20 #include "rpin.h"       /*gpclk*/
  21 #include "rp_spi.h"     /*spi*/
  22 #include "misc.h"       /*structure for priorities*/
  23 #include "pxmc_sin_fixed.h"     /*to test sin commutation */
  24
  25
  26
  27 #define PRUM_PROUD      2061
  28 #define PRUM_SOUC       6183
  29 #define MAX_DUTY        128
  30 #define PID_P           0.1
  31
  32 #define PRIOR_KERN      50
  33 #define PRIOR_HIGH      49
  34 #define PRIOR_LOW       20
  35
  36 #define THREAD_SHARED   0
  37 #define INIT_VALUE      1       /*init value for semaphor*/
  38
  39
  40 #define PXMC_SIN_FIX_TAB_BITS 9
  41 #define PXMC_SIN_FIX_IDX_SLR  23
  42 #define PXMC_SIN_FIX_XD_MASK  0x007fffff
  43 #define PXMC_SIN_FIX_XD_SLR   8
  44 #define PXMC_SIN_FIX_A_MASK   0xffffc000
  45 #define PXMC_SIN_FIX_B_SLL    19
  46 #define PXMC_SIN_FIX_B_SAR    16
  47 #define PXMC_SIN_FIX_B_XD_SAR 6
  48 #define PXMC_SIN_FIX_ZIC_MASK 0x00002000
  49 #define PXMC_SIN_FIX_ZIC_BIT  13
  50
  51 #define PXMC_SIN_FIX_PI2      0x40000000
  52 #define PXMC_SIN_FIX_2PI3     0x55555555
  53
  54 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
  55
  56
  57
  58 struct rpi_in data;
  59 struct rpi_state{
  60         uint8_t test;
  61         uint16_t pwm1, pwm2, pwm3;
  62         uint16_t t_pwm1, t_pwm2, t_pwm3;
  63         char commutate;
  64         int duty;                       /* duty cycle of pwm */
  65         uint16_t index_dist;            /* distance to index position */
  66         unsigned char index_ok;
  67         uint32_t tf_count;              /*number of transfer*/
  68         int desired_pos;                /* desired position */
  69 }rps;
  70
  71
  72 /**
  73  * \brief Initilizes GPCLK.
  74  */
  75 int clk_init()
  76 {
  77         initialise(); /*namapovani gpio*/
  78         initClock(PLLD_500_MHZ, 10, 0);
  79         gpioSetMode(4, FSEL_ALT0);
  80         return 0;
  81 }
  82 /*
  83  * \brief Terminates GPCLK.
  84  */
  85
  86 inline void clk_disable(){
  87         termClock(0);
  88 }
  89
  90 /**
  91  * \brief Signal handler pro Ctrl+C
  92  */
  93 void appl_stop(){
  94         spi_disable();
  95         clk_disable();
  96         /*muzeme zavrit semafor*/
  97         sem_destroy(&thd_par_sem);
  98         printf("\nprogram bezpecne ukoncen\n");
  99 }
 100
 101 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
 102         data->pozice_raw=data->pozice;
 103         data->pozice-=offset->pozice;
 104         return;
 105 }
 106 /*
 107  * pocita procentualni odchylku od prumerneho proudu
 108  */
 109 float diff_p(float value){
 110         return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
 111 }
 112 /*
 113  * pocita procentualni odchylku od prumerneho souctu proudu
 114  */
 115 float diff_s(float value){
 116         return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
 117 }
 118 /*
 119  * tiskne potrebna data
 120  */
 121 void printData(){
 122         struct rpi_in data_p;
 123         struct rpi_state s;     /*state*/
 124         float cur0, cur1, cur2;
 125         int i;
 126         /* copy the data */
 127         sem_wait(&thd_par_sem);
 128         data_p = data;
 129         s=rps;
 130         sem_post(&thd_par_sem);
 131
 132         if (data_p.adc_m_count){
 133                 cur0=data_p.ch0/data_p.adc_m_count;
 134                 cur1=data_p.ch1/data_p.adc_m_count;
 135                 cur2=data_p.ch2/data_p.adc_m_count;
 136         }
 137         for (i = 0; i < 16; i++) {
 138                         if (!(i % 6))
 139                                 puts("");
 140                         printf("%.2X ", data_p.debug_rx[i]);
 141         }
 142         puts("");
 143         printf("\npozice=%d\n",(int32_t)data_p.pozice);
 144         printf("chtena pozice=%d\n",s.desired_pos);
 145         printf("transfer count=%u\n",s.tf_count);
 146         printf("raw_pozice=%u\n",data_p.pozice_raw);
 147         printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
 148         printf("index position=%u\n",data_p.index_position);
 149         printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
 150         printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
 151         printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
 152         printf("PWM1=%u(L.s.)\n",s.pwm1);
 153         printf("PWM2=%u(L.s.)\n",s.pwm2);
 154         printf("PWM3=%u(L.s.)\n",s.pwm3);
 155         printf("distance to index=%u\n",s.index_dist);
 156         printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
 157         printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
 158         printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
 159         printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
 160         printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
 161         printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
 162         printf("duty=%d\n",s.duty);
 163         if (s.index_ok) printf("index ok\n");
 164         if (s.commutate) printf("commutation in progress\n");
 165 }
 166 void prepare_tx(uint8_t * tx){
 167
 168         /*Data format:
 169          * tx[4] - bity 95 downto 88 - bits that are sent first
 170          * tx[5] - bity 87 downto 80
 171          * tx[6] - bity 79 downto 72
 172          * tx[7] - bity 71 downto 64
 173          * tx[8] - bity 63 downto 56
 174          * tx[9] - bity 55 downto 48
 175          * tx[10] - bity 47 downto 40
 176          * tx[11] - bity 39 downto 32
 177          * tx[12] - bity 31 downto 24
 178          * tx[13] - bity 23 downto 16
 179          * tx[14] - bity 15 downto 8
 180          * tx[15] - bity 7 downto 0
 181          *
 182          * bit 95 - ADC reset
 183          * bit 94 - enable PWM1
 184          * bit 93 - enable PWM2
 185          * bit 92 - enable PWM3
 186          * bit 91 - shutdown1
 187          * bit 90 - shutdown2
 188          * bit 89 - shutdown3
 189          *      .
 190          *      .
 191          *      Unused
 192          *      .
 193          *      .
 194          * bits 47 .. 32 - match PWM1
 195          * bits 31 .. 16 - match PWM2
 196          * bits 15 .. 0  - match PWM3
 197          */
 198
 199
 200         uint16_t tmp;
 201
 202         /* keep the 11-bit cap*/
 203
 204         if (rps.pwm1>2047) rps.pwm1=2047;
 205         if (rps.pwm2>2047) rps.pwm2=2047;
 206         if (rps.pwm3>2047) rps.pwm3=2047;
 207
 208         tx[0]=rps.test; /*bit 94 - enable PWM1*/
 209
 210         /*now we have to switch the bytes due to endianess */
 211         /* ARMv6 & ARMv7 instructions are little endian */
 212         /*pwm1*/
 213         tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
 214         tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
 215
 216         /*pwm2*/
 217         tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
 218         tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
 219
 220         /*pwm3*/
 221         tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
 222         tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 223
 224
 225 }
 226 /**
 227  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 228  */
 229 void * pos_monitor(void* param){
 230         while(1){
 231                 printData();
 232                 usleep(1000000);        /*1 Hz*/
 233         }
 234         return (void*)0;
 235 }
 236
 237 inline
 238 int sin_commutator(int duty){
 239         #define DEGREE_60        715827883
 240         #define DEGREE_120      1431655765
 241         #define DEGREE_180      2147483648
 242         #define DEGREE_240      2863311531
 243         #define DEGREE_300      3579139413
 244         uint32_t j,pos;
 245         int32_t sin;
 246         uint16_t pwm;
 247         pos=rps.index_dist*4294967;
 248         if (duty>=0){   /*clockwise rotation*/
 249                 /* 1st phase */
 250                 sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
 251                 pwm=0;
 252                 for(j=0;j!=11;j++){
 253                         /* multiplicate as if maximum sinus value was unity */
 254                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 255                 }
 256                 rps.pwm1=pwm;
 257
 258                 /* 2nd phase */
 259                 sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
 260                 pwm=0;
 261                 for(j=0;j!=11;j++){
 262                         /* multiplicate as if maximum sinus value was unity */
 263                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 264                 }
 265                 rps.pwm2=pwm;
 266
 267                 /* 3rd phase */
 268                 sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
 269                 pwm=0;
 270                 for(j=0;j!=11;j++){
 271                         /* multiplicate as if maximum sinus value was unity */
 272                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 273                 }
 274                 rps.pwm3=pwm;
 275         }else{
 276                 duty=-duty;
 277
 278                 /* 1st phase */
 279                 sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
 280                 pwm=0;
 281                 for(j=0;j!=11;j++){
 282                         /* multiplicate as if maximum sinus value was unity */
 283                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 284                 }
 285                 rps.pwm1=pwm;
 286
 287                 /* 2nd phase */
 288                 sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
 289                 pwm=0;
 290                 for(j=0;j!=11;j++){
 291                         /* multiplicate as if maximum sinus value was unity */
 292                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 293                 }
 294                 rps.pwm2=pwm;
 295
 296                 /* 3rd phase */
 297                 sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
 298                 pwm=0;
 299                 for(j=0;j!=11;j++){
 300                         /* multiplicate as if maximum sinus value was unity */
 301                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 302                 }
 303                 rps.pwm3=pwm;
 304         }
 305         return 0;
 306 }
 307 /*
 308  * \brief
 309  * Test function to be placed in controll loop.
 310  * Switches PWM's at point where they produce same force.
 311  * This points are found thanks to IRC position,
 312  */
 313 inline
 314 void simple_ind_dist_commutator(int duty){
 315         if (duty>=0){ /* clockwise - so that position increase */
 316                 /* pwm3 */
 317                 if ((rps.index_dist>=45 && rps.index_dist<=373) ||
 318                 (rps.index_dist>=1048 && rps.index_dist<=1377)){
 319                         rps.pwm1=0;
 320                         rps.pwm2=0;
 321                         rps.pwm3=duty;
 322                         /* pwm1 */
 323                 }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
 324                 (rps.index_dist>=1377 && rps.index_dist<=1711)){
 325                         rps.pwm1=duty;
 326                         rps.pwm2=0;
 327                         rps.pwm3=0;
 328                         /* pwm2 */
 329                 }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
 330                 (rps.index_dist>=711 && rps.index_dist<=1048) ||
 331                 (rps.index_dist>=1711 && rps.index_dist<=1999)){
 332                         rps.pwm1=0;
 333                         rps.pwm2=duty;
 334                         rps.pwm3=0;
 335                 }
 336         }else{  /*counter-clockwise - position decrease */
 337                 /* pwm3 */
 338                 if ((rps.index_dist>=544 && rps.index_dist<=881) ||
 339                 (rps.index_dist>=1544 && rps.index_dist<=1878)){
 340                         rps.pwm1=0;
 341                         rps.pwm2=0;
 342                         rps.pwm3=-duty;
 343                         /* pwm1 */
 344                 }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
 345                 (rps.index_dist>=881 && rps.index_dist<=1210) ||
 346                 (rps.index_dist>=1878 && rps.index_dist<=1999)){
 347                         rps.pwm1=-duty;
 348                         rps.pwm2=0;
 349                         rps.pwm3=0;
 350                         /* pwm2 */
 351                 }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
 352                 (rps.index_dist>=1210 && rps.index_dist<=1544)){
 353                         rps.pwm1=0;
 354                         rps.pwm2=-duty;
 355                         rps.pwm3=0;
 356                 }
 357         }
 358 }
 359 /*
 360  * \brief
 361  * Test function to be placed in controll loop.
 362  * Switches PWM's at point where they produce same force
 363  */
 364 inline void simple_hall_commutator(int duty){
 365         if (duty>=0){ /* clockwise - so that position increase */
 366                 /* pwm3 */
 367                 if (data.hal2 && !data.hal3){
 368                         rps.pwm1=0;
 369                         rps.pwm2=0;
 370                         rps.pwm3=duty;
 371                         /* pwm1 */
 372                 }else if (data.hal1 && !data.hal2){
 373                         rps.pwm1=duty;
 374                         rps.pwm2=0;
 375                         rps.pwm3=0;
 376                         /* pwm2 */
 377                 }else if (!data.hal1 && data.hal3){
 378                         rps.pwm1=0;
 379                         rps.pwm2=duty;
 380                         rps.pwm3=0;
 381                 }
 382         }else{  /*counter-clockwise - position decrease */
 383                 /* pwm3 */
 384                 if (!data.hal2 && data.hal3){
 385                         rps.pwm1=0;
 386                         rps.pwm2=0;
 387                         rps.pwm3=-duty;
 388                         /* pwm1 */
 389                 }else if (!data.hal1 && data.hal2){
 390                         rps.pwm1=-duty;
 391                         rps.pwm2=0;
 392                         rps.pwm3=0;
 393                         /* pwm2 */
 394                 }else if (data.hal1 && !data.hal3){
 395                         rps.pwm1=0;
 396                         rps.pwm2=-duty;
 397                         rps.pwm3=0;
 398                 }
 399         }
 400 }
 401 /**
 402  * \brief
 403  * Computation of distance to index.
 404  *
 405  * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu
 406  * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu -
 407  *      to je 3999 bodu
 408  *      =>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate
 409  *              signalu indexu
 410  */
 411 void comIndDist(){
 412         uint16_t pos = 0x0FFF & data.pozice_raw;
 413         uint16_t dist;
 414         uint16_t index = data.index_position;
 415
 416         if (index<2048){
 417                 if (pos<index){
 418                         /*proti smeru h.r. od indexu*/
 419                         dist=pos+2000-index;
 420                 }else if (pos<=index+2048){
 421                         /*po smeru h.r. od indexu*/
 422                         dist=pos-index;
 423                 }else{
 424                         /*proti smeru h.r. od indexu - podtecena pozice*/
 425                         dist=pos-index-2096;
 426                 }
 427         }else{
 428                 if (pos<index-2048){
 429                         /*po smeru h.r. od indexu - pretecena pozice*/
 430                         dist=4096+pos-index;
 431                 }else if (pos<index){
 432                         /*proti smeru h.r. od indexu*/
 433                         dist=pos+2000-index;
 434                 }else{
 435                         /*po smeru h.r. od indexu*/
 436                         dist=pos-index;
 437                 }
 438
 439         }
 440         rps.index_dist = dist;
 441         return;
 442 }
 443 /*
 444  * \brief
 445  * Very simple PID regulator.
 446  * Now only with P-part so that the error doesnt go to zero.
 447  * TODO: add anti-wind up and I and D parts
 448  */
 449 inline void pid(){
 450         int duty_tmp;
 451         duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
 452         if (duty_tmp>MAX_DUTY){
 453                 rps.duty=MAX_DUTY;
 454         }else if (duty_tmp<-MAX_DUTY){
 455                 rps.duty=-MAX_DUTY;
 456         }else{
 457                 rps.duty = duty_tmp;
 458         }
 459 }
 460 /*
 461  * \brief
 462  * Feedback loop.
 463  */
 464 void * read_data(void* param){
 465         int i;
 466         struct rpi_in pocatek;
 467         struct timespec t;
 468         int interval = 1000000; /* 1ms ~ 1kHz*/
 469         uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
 470         char first=1;
 471         uint16_t last_index;                            /*we have index up-to date*/
 472         pocatek = spi_read(tx);
 473         clock_gettime(CLOCK_MONOTONIC ,&t);
 474         /* start after one second */
 475         t.tv_sec++;
 476                 while(1){
 477                         /* wait until next shot */
 478                         clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 479                         sem_wait(&thd_par_sem);         /*---take semaphore---*/
 480                         prepare_tx(tx);                 /*save the data to send*/
 481                         data = spi_read(tx);            /*exchange data*/
 482                         /*subtract initiate postion */
 483                         rps.tf_count++;
 484                         substractOffset(&data,&pocatek);
 485                         comIndDist();
 486                         if (!rps.index_ok){
 487                                 if (first){
 488                                         last_index=data.index_position;
 489                                         first=0;
 490                                 }else if (last_index!=data.index_position){
 491                                         rps.index_ok=1;
 492                                 }
 493                         }
 494                         pid();
 495                         if (rps.index_ok && rps.commutate){
 496                                 /*simple_ind_dist_commutator(rps.duty);*/
 497                                 sin_commutator(rps.duty);
 498                         }else if(!rps.index_ok && rps.commutate){
 499                                 simple_hall_commutator(rps.duty);
 500                         }
 501                         sem_post(&thd_par_sem);         /*--post semaphore---*/
 502
 503                         /* calculate next shot */
 504                         t.tv_nsec += interval;
 505
 506                         while (t.tv_nsec >= NSEC_PER_SEC) {
 507                                 t.tv_nsec -= NSEC_PER_SEC;
 508                                 t.tv_sec++;
 509                         }
 510
 511                 }
 512 }
 513
 514
 515 /**
 516  * \brief
 517  * Commands detection.
 518  */
 519 void poll_cmd(){
 520         unsigned int tmp;
 521         /*
 522          * Note:
 523          * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
 524          * k preukladani hodnot na promenne test. Dost divne.
 525          */
 526         while (1){
 527                 scanf("%u",&tmp);
 528                 printf("volba=%u\n",tmp);
 529                 switch (tmp){
 530                 case 1:
 531                         scanf("%u",&tmp);
 532                         sem_wait(&thd_par_sem);
 533                         rps.pwm1=tmp&0xFFF;
 534                         sem_post(&thd_par_sem);
 535                         break;
 536                 case 2:
 537                         scanf("%u",&tmp);
 538                         sem_wait(&thd_par_sem);
 539                         rps.pwm2=tmp&0xFFF;
 540                         sem_post(&thd_par_sem);
 541                         break;
 542                 case 3:
 543                         scanf("%u",&tmp);
 544                         sem_wait(&thd_par_sem);
 545                         rps.pwm3=tmp&0xFFF;
 546                         sem_post(&thd_par_sem);
 547                         break;
 548                 case 4:
 549                         scanf("%u",&tmp);
 550                         sem_wait(&thd_par_sem);
 551                         rps.test=tmp&0xFF;
 552                         sem_post(&thd_par_sem);
 553                         break;
 554                 case 5:
 555                         sem_wait(&thd_par_sem);
 556                         rps.commutate=!rps.commutate;
 557                         /* switch off pwms at the end of commutation */
 558                         rps.pwm1&=rps.commutate*0xFFFF;
 559                         rps.pwm2&=rps.commutate*0xFFFF;
 560                         rps.pwm3&=rps.commutate*0xFFFF;
 561                         sem_post(&thd_par_sem);
 562                         break;
 563                 case 6:
 564                         scanf("%d",&tmp);
 565                         sem_wait(&thd_par_sem);
 566                         rps.duty=tmp;
 567                         sem_post(&thd_par_sem);
 568                         break;
 569                 case 7:
 570                         scanf("%d",&tmp);
 571                         sem_wait(&thd_par_sem);
 572                         rps.desired_pos=tmp;
 573                         sem_post(&thd_par_sem);
 574                         break;
 575
 576                 default:
 577                         break;
 578                 }
 579
 580         }
 581         return ;
 582 }
 583 /**
 584  * \brief Main function.
 585  */
 586
 587 int main(){
 588         pthread_t base_thread_id;
 589         clk_init();             /* inicializace gpio hodin */
 590         spi_init();             /* iniicializace spi*/
 591
 592         /*semafor pro detekci zpracovani parametru vlaken*/
 593         sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
 594         setup_environment();
 595
 596         base_thread_id=pthread_self();
 597
 598         /*main control loop*/
 599         create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
 600
 601         /*monitor of current state*/
 602         create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
 603
 604         /*wait for commands*/
 605         poll_cmd();
 606
 607         return 0;
 608 }