11 void poll_cmd(struct rpi_state* state){
15 * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
16 * k preukladani hodnot na promenne test. Dost divne.
20 printf("volba=%u\n",tmp);
24 sem_wait(&state->thd_par_sem);
25 state->pwm1=tmp&0xFFF;
26 sem_post(&state->thd_par_sem);
30 sem_wait(&state->thd_par_sem);
31 state->pwm2=tmp&0xFFF;
32 sem_post(&state->thd_par_sem);
36 sem_wait(&state->thd_par_sem);
37 state->pwm3=tmp&0xFFF;
38 sem_post(&state->thd_par_sem);
42 sem_wait(&state->thd_par_sem);
44 sem_post(&state->thd_par_sem);
47 sem_wait(&state->thd_par_sem);
48 state->commutate=!state->commutate;
49 /* switch off pwms at the end of commutation */
50 state->pwm1&=state->commutate*0xFFFF;
51 state->pwm2&=state->commutate*0xFFFF;
52 state->pwm3&=state->commutate*0xFFFF;
53 sem_post(&state->thd_par_sem);
57 sem_wait(&state->thd_par_sem);
59 sem_post(&state->thd_par_sem);
63 sem_wait(&state->thd_par_sem);
64 state->desired_pos=tmp;
65 sem_post(&state->thd_par_sem);
77 * tiskne potrebna data
79 void printData(struct rpi_state* state){
81 struct rpi_state s; /*state*/
82 float cur0, cur1, cur2;
85 sem_wait(&state->thd_par_sem);
86 data_p = *state->spi_dat;
88 sem_post(&state->thd_par_sem);
90 if (data_p.adc_m_count){
91 cur0=data_p.ch0/data_p.adc_m_count;
92 cur1=data_p.ch1/data_p.adc_m_count;
93 cur2=data_p.ch2/data_p.adc_m_count;
95 for (i = 0; i < 16; i++) {
98 printf("%.2X ", data_p.debug_rx[i]);
101 printf("\npozice=%d\n",(int32_t)data_p.pozice);
102 printf("chtena pozice=%d\n",s.desired_pos);
103 printf("transfer count=%u\n",s.tf_count);
104 printf("raw_pozice=%u\n",data_p.pozice_raw);
105 printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
106 printf("index position=%u\n",data_p.index_position);
107 printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
108 printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
109 printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
110 printf("PWM1=%u(L.s.)\n",s.pwm1);
111 printf("PWM2=%u(L.s.)\n",s.pwm2);
112 printf("PWM3=%u(L.s.)\n",s.pwm3);
113 printf("distance to index=%u\n",s.index_dist);
114 printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
115 printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
116 printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
117 printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
118 printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
119 printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
120 printf("duty=%d\n",s.duty);
121 if (s.index_ok) printf("index ok\n");
122 if (s.commutate) printf("commutation in progress\n");