8 #define PRUM_PROUD 2061
11 static char doPrint = 1;
12 static char error = 0;
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);
71 sem_post(&state->thd_par_sem);
76 * Nastavi pevnou sirku plneni
78 static void dutySet(struct rpi_state* state, int duty){
79 sem_wait(&state->thd_par_sem);
80 if (duty>MAX_DUTY) duty=MAX_DUTY;
81 if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
85 setCommutationOn(state);
86 sem_post(&state->thd_par_sem);
91 * Zapne rizeni na zvolenou polohu vztazenou k pozici pri startu
93 static void goAbsolute(struct rpi_state* state, int pos){
94 sem_wait(&state->thd_par_sem);
97 setCommutationOn(state);
98 state->desired_pos=pos;
99 sem_post(&state->thd_par_sem);
104 * Zapne nebo vypne pravidelne vypisovani hodnot.
106 static void changePrint(){
112 * Bezpecne ukonci program.
114 static void exitApp(struct rpi_state* state){
116 /* Note: atexit() is set before*/
123 static void setSpeed(struct rpi_state* state, int speed){
124 if (speed>MAX_SPEED) speed=MAX_SPEED;
125 if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
126 sem_wait(&state->thd_par_sem);
127 state->pos_reg_ena=0;
128 state->spd_reg_ena=1;
129 setCommutationOn(state);
130 state->desired_spd=speed;
131 sem_post(&state->thd_par_sem);
138 static void setAlphaOff(struct rpi_state* state, int offset){
139 if (offset<0) offset*=-1;
141 sem_wait(&state->thd_par_sem);
142 state->alpha_offset=(unsigned short)offset;
143 sem_post(&state->thd_par_sem);
150 static void logInit(struct rpi_state* state){
153 state->log_col_count=LOG_DEF_COL;
154 for (r=0;r<LOG_ROWS;r++){
155 state->logs[r]=malloc(state->log_col_count*sizeof(int));
156 if (state->logs[r]==NULL){
158 state->log_col_count=-1;
170 * if logs are being logged, save them
171 * if they are not, start log them
173 static void setLogSEM(struct rpi_state* state){
174 sem_wait(&state->thd_par_sem);
175 /* ulozim logy a vypnu zachytavani*/
176 if (state->log_col_count){
178 sem_post(&state->thd_par_sem);
180 /* spustim zachytavani logu */
183 sem_post(&state->thd_par_sem);
189 * Commands detection.
191 void poll_cmd(struct rpi_state* state){
200 sscanf(buff,"%s %d",cmd,&val);
203 if (!strcmp(cmd,"start")){
205 }else if (!strcmp(cmd,"0")){
207 }else if (!strcmp(cmd,"stop")){
209 }else if (!strcmp(cmd,"ga")){
210 goAbsolute(state,val);
211 }else if (!strcmp(cmd,"duty")){
213 }else if (!strcmp(cmd,"help")){
215 }else if (!strcmp(cmd,"print")){
217 }else if (!strcmp(cmd,"exit")){
219 }else if (!strcmp(cmd,"spd")){
220 setSpeed(state, val);
221 }else if (!strcmp(cmd,"log")){
223 }else if (!strcmp(cmd,"ao")){
224 setAlphaOff(state,val);
231 * pocita procentualni odchylku od prumerneho proudu
233 static float diff_p(float value){
234 return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
237 * pocita procentualni odchylku od prumerneho souctu proudu
239 static float diff_s(float value){
240 return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
244 * tiskne potrebna data
246 void printData(struct rpi_state* state){
247 if (!doPrint) return;
249 struct rpi_in data_p;
250 struct rpi_state s; /*state*/
251 float cur0, cur1, cur2;
254 sem_wait(&state->thd_par_sem);
255 data_p = *state->spi_dat;
257 sem_post(&state->thd_par_sem);
259 if (data_p.adc_m_count){
260 cur0=data_p.ch0/data_p.adc_m_count;
261 cur1=data_p.ch1/data_p.adc_m_count;
262 cur2=data_p.ch2/data_p.adc_m_count;
264 for (i = 0; i < 16; i++) {
267 printf("%.2X ", data_p.debug_rx[i]);
270 printf("\npozice=%ld\n",data_p.pozice);
271 printf("rychlost=%d\n",s.speed);
272 printf("chtena pozice=%d\n",s.desired_pos);
273 printf("chtena rychlost=%d\n",s.desired_spd);
274 printf("alpha offset=%hu\n",s.alpha_offset);
275 printf("transfer count=%u\n",s.tf_count);
276 printf("raw_pozice=%u\n",data_p.pozice_raw);
277 printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
278 printf("index position=%u\n",data_p.index_position);
279 printf("distance to index=%u\n",s.index_dist);
280 printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
281 printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
282 printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
283 printf(" PWM1=%u PWM2=%u PWM3=%u\n",s.pwm1,s.pwm2,s.pwm3);
284 printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
285 printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
286 printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
287 printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
288 printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
289 printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
290 printf("duty=%d\n",s.duty);
291 if (s.index_ok) printf("index ok\n");
292 if (s.commutate) printf("commutation in progress\n");
293 if (s.doLogs) printf("logujeme\n");
294 if (error) printf("error pri maloc logs!! \n");