7 #define PRUM_PROUD 2061
10 static char doPrint = 1;
11 static char error = 0;
17 static void printHelp(){
19 puts("start - Pripravi rizeni, zapne enable bity pwm.");
20 puts("stop - Vypne komutaci, pwm a rizeni.");
21 puts("0 - Vypne komutaci, pwm a rizeni.");
22 puts("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");
23 puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
24 puts("spd:[hodnota] - Zapne rizeni na danou rychlost.");
25 puts("log - Spusti nebo ulozi logovani.");
27 puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
28 puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
29 puts("exit - Bezpecne ukonci program.");
35 * V prikazech je hodnota od zneni prikazu delena dvojteckou
36 * tato funkce dvojtecku nahradi mezerou
38 static void delCol(char * txt){
41 if (txt[i]==':') txt[i]=' ';
47 * Nastavi enable bity na pwm,
50 static void start(struct rpi_state* state){
51 sem_wait(&state->thd_par_sem);
52 state->test=0x70; /*konfiguracni byte*/
53 sem_post(&state->thd_par_sem);
58 * Zastavi komutaci, vypne pwm
60 static void stop(struct rpi_state* state){
61 sem_wait(&state->thd_par_sem);
69 sem_post(&state->thd_par_sem);
74 * Nastavi pevnou sirku plneni
76 static void dutySet(struct rpi_state* state, int duty){
77 sem_wait(&state->thd_par_sem);
78 if (duty>MAX_DUTY) duty=MAX_DUTY;
79 if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
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);
96 state->desired_pos=pos;
97 sem_post(&state->thd_par_sem);
102 * Zapne nebo vypne pravidelne vypisovani hodnot.
104 static void changePrint(){
110 * Bezpecne ukonci program.
112 static void exitApp(struct rpi_state* state){
114 /* Note: atexit() is set before*/
121 static void setSpeed(struct rpi_state* state, int speed){
122 if (speed>MAX_SPEED) speed=MAX_SPEED;
123 if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
124 sem_wait(&state->thd_par_sem);
125 state->pos_reg_ena=0;
126 state->spd_reg_ena=1;
128 state->desired_spd=speed;
129 sem_post(&state->thd_par_sem);
136 static void logInit(struct rpi_state* state){
139 state->log_col_count=LOG_DEF_COL;
140 for (r=0;r<LOG_ROWS;r++){
141 state->logs[r]=malloc(state->log_col_count*sizeof(int));
142 if (state->logs[r]==NULL){
144 state->log_col_count=-1;
155 static void saveLogs(struct rpi_state* state){
159 f = fopen("logs.log", "w");
161 printf("Error opening file!\n");
165 for (r=0;r<LOG_ROWS;r++){
166 for(s=0;s<state->log_col-1;s++){ /*posledni sloupec je vevyplneny*/
167 if (s==state->log_col-2){
168 fprintf(f,"%d ",state->logs[r][s]);
170 fprintf(f,"%d, ",state->logs[r][s]);
182 * if logs are being logged, save them
183 * if they are not, start log them
185 static void setLogSEM(struct rpi_state* state){
186 sem_wait(&state->thd_par_sem);
187 /* ulozim logy a vypnu zachytavani*/
188 if (state->log_col_count){
190 sem_post(&state->thd_par_sem);
192 /* spustim zachytavani logu */
195 sem_post(&state->thd_par_sem);
201 * Commands detection.
203 void poll_cmd(struct rpi_state* state){
212 sscanf(buff,"%s %d",cmd,&val);
215 if (!strcmp(cmd,"start")){
217 }else if (!strcmp(cmd,"0")){
219 }else if (!strcmp(cmd,"stop")){
221 }else if (!strcmp(cmd,"ga")){
222 goAbsolute(state,val);
223 }else if (!strcmp(cmd,"duty")){
225 }else if (!strcmp(cmd,"help")){
227 }else if (!strcmp(cmd,"print")){
229 }else if (!strcmp(cmd,"exit")){
231 }else if (!strcmp(cmd,"spd")){
232 setSpeed(state, val);
233 }else if (!strcmp(cmd,"log")){
241 * pocita procentualni odchylku od prumerneho proudu
243 static float diff_p(float value){
244 return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
247 * pocita procentualni odchylku od prumerneho souctu proudu
249 static float diff_s(float value){
250 return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
254 * tiskne potrebna data
256 void printData(struct rpi_state* state){
257 if (!doPrint) return;
259 struct rpi_in data_p;
260 struct rpi_state s; /*state*/
261 float cur0, cur1, cur2;
264 sem_wait(&state->thd_par_sem);
265 data_p = *state->spi_dat;
267 sem_post(&state->thd_par_sem);
269 if (data_p.adc_m_count){
270 cur0=data_p.ch0/data_p.adc_m_count;
271 cur1=data_p.ch1/data_p.adc_m_count;
272 cur2=data_p.ch2/data_p.adc_m_count;
274 for (i = 0; i < 16; i++) {
277 printf("%.2X ", data_p.debug_rx[i]);
280 printf("\npozice=%ld\n",data_p.pozice);
281 printf("rychlost=%d\n",s.speed);
282 printf("chtena pozice=%d\n",s.desired_pos);
283 printf("chtena rychlost=%d\n",s.desired_spd);
284 printf("transfer count=%u\n",s.tf_count);
285 printf("raw_pozice=%u\n",data_p.pozice_raw);
286 printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
287 printf("index position=%u\n",data_p.index_position);
288 printf("distance to index=%u\n",s.index_dist);
289 printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
290 printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
291 printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
292 printf(" PWM1=%u PWM2=%u PWM3=%u\n",s.pwm1,s.pwm2,s.pwm3);
293 printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
294 printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
295 printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
296 printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
297 printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
298 printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
299 printf("duty=%d\n",s.duty);
300 if (s.index_ok) printf("index ok\n");
301 if (s.commutate) printf("commutation in progress\n");
302 if (s.doLogs) printf("logujeme\n");
303 if (error) printf("error pri maloc logs!! \n");