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);