8 #define PRUM_PROUD 2061
11 static char doPrint = 1;
18 static void printHelp(){
20 puts("start - Pripravi rizeni, zapne enable bity pwm.");
21 puts("stop - Vypne komutaci, pwm a rizeni.");
22 puts("0 - Vypne komutaci, pwm a rizeni.");
23 puts("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");
24 puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
25 puts("spd:[hodnota] - Zapne rizeni na danou rychlost.");
26 puts("log - Spusti nebo ulozi logovani.");
27 puts("ao:[hodnota] - Prenastavi alpha offset.");
29 puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
30 puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
31 puts("exit - Bezpecne ukonci program.");
37 * V prikazech je hodnota od zneni prikazu delena dvojteckou
38 * tato funkce dvojtecku nahradi mezerou
40 static void delCol(char * txt){
43 if (txt[i]==':') txt[i]=' ';
49 * Nastavi enable bity na pwm,
52 static void start(struct rpi_state* state){
53 sem_wait(&state->thd_par_sem);
54 state->test=0x70; /*konfiguracni byte*/
55 sem_post(&state->thd_par_sem);
60 * Zastavi komutaci, vypne pwm
62 static void stop(struct rpi_state* state){
63 sem_wait(&state->thd_par_sem);
64 setCommutationOff(state);
65 setRegulationOff(state);
70 sem_post(&state->thd_par_sem);
75 * Nastavi pevnou sirku plneni
77 static void dutySet(struct rpi_state* state, int duty){
78 sem_wait(&state->thd_par_sem);
79 if (duty>MAX_DUTY) duty=MAX_DUTY;
80 if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
82 setRegulationOff(state);
83 setCommutationOn(state);
84 sem_post(&state->thd_par_sem);
89 * Zapne rizeni na zvolenou polohu vztazenou k pozici pri startu
91 static void goAbsolute(struct rpi_state* state, int pos){
92 sem_wait(&state->thd_par_sem);
93 setRegulationPos(state);
94 setCommutationOn(state);
95 state->desired_pos=pos;
96 sem_post(&state->thd_par_sem);
101 * Zapne nebo vypne pravidelne vypisovani hodnot.
103 static void changePrint(){
109 * Bezpecne ukonci program.
111 static void exitApp(struct rpi_state* state){
113 /* Note: atexit() is set before*/
120 static void setSpeed(struct rpi_state* state, int speed){
121 if (speed>MAX_SPEED) speed=MAX_SPEED;
122 if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
123 sem_wait(&state->thd_par_sem);
124 setRegulationSpeed(state);
125 setCommutationOn(state);
126 state->desired_spd=speed;
127 sem_post(&state->thd_par_sem);
134 static void setAlphaOff(struct rpi_state* state, int offset){
135 if (offset<0) offset*=-1;
137 sem_wait(&state->thd_par_sem);
138 state->alpha_offset=(unsigned short)offset;
139 sem_post(&state->thd_par_sem);
145 * if logs are being logged, save them
146 * if they are not, start log them
148 static void setLogSEM(struct rpi_state* state){
149 sem_wait(&state->thd_par_sem);
150 /* ulozim logy a vypnu zachytavani*/
151 if (state->log_col_count){
153 sem_post(&state->thd_par_sem);
155 /* spustim zachytavani logu */
158 sem_post(&state->thd_par_sem);
164 * Commands detection.
166 void poll_cmd(struct rpi_state* state){
175 sscanf(buff,"%s %d",cmd,&val);
178 if (!strcmp(cmd,"start")){
180 }else if (!strcmp(cmd,"0")){
182 }else if (!strcmp(cmd,"stop")){
184 }else if (!strcmp(cmd,"ga")){
185 goAbsolute(state,val);
186 }else if (!strcmp(cmd,"duty")){
188 }else if (!strcmp(cmd,"help")){
190 }else if (!strcmp(cmd,"print")){
192 }else if (!strcmp(cmd,"exit")){
194 }else if (!strcmp(cmd,"spd")){
195 setSpeed(state, val);
196 }else if (!strcmp(cmd,"log")){
198 }else if (!strcmp(cmd,"ao")){
199 setAlphaOff(state,val);
206 * pocita procentualni odchylku od prumerneho proudu
208 static float diff_p(float value){
209 return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
212 * pocita procentualni odchylku od prumerneho souctu proudu
214 static float diff_s(float value){
215 return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
219 * tiskne potrebna data
221 void printData(struct rpi_state* state){
222 if (!doPrint) return;
224 struct rpi_in data_p;
225 struct rpi_state s; /*state*/
226 float cur0, cur1, cur2;
229 sem_wait(&state->thd_par_sem);
230 data_p = *state->spi_dat;
232 sem_post(&state->thd_par_sem);
234 if (data_p.adc_m_count){
235 cur0=data_p.ch0/data_p.adc_m_count;
236 cur1=data_p.ch1/data_p.adc_m_count;
237 cur2=data_p.ch2/data_p.adc_m_count;
239 for (i = 0; i < 16; i++) {
242 printf("%.2X ", data_p.debug_rx[i]);
245 printf("\npozice=%ld\n",data_p.pozice);
246 printf("rychlost=%d\n",s.speed);
247 printf("chtena pozice=%d\n",s.desired_pos);
248 printf("chtena rychlost=%d\n",s.desired_spd);
249 printf("alpha offset=%hu\n",s.alpha_offset);
250 printf("transfer count=%u\n",s.tf_count);
251 printf("raw_pozice=%u\n",data_p.pozice_raw);
252 printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
253 printf("index position=%u\n",data_p.index_position);
254 printf("distance to index=%u\n",s.index_dist);
255 printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
256 printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
257 printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
258 printf(" PWM1=%u PWM2=%u PWM3=%u\n",s.pwm1,s.pwm2,s.pwm3);
259 printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
260 printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
261 printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
262 printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
263 printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
264 printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
265 printf("duty=%d\n",s.duty);
266 if (s.index_ok) printf("index ok\n");
267 if (s.commutate) printf("commutation in progress\n");
268 if (s.doLogs) printf("logujeme\n");
269 if (s.error) printf("error pri maloc logs!! \n");