pmsm-control/test_sw/cmd_proc.c

   1 #include <stdlib.h>
   2 #include <stdio.h>
   3 #include <string.h>
   4
   5 #include "cmd_proc.h"
   6 #include "logs.h"
   7
   8 #define PRUM_PROUD      2061
   9 #define PRUM_SOUC       6183
  10
  11 static char doPrint = 1;
  12
  13
  14 /*
  15  * \brief
  16  * Help
  17  */
  18 static void printHelp(){
  19         doPrint=0;
  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.");
  28
  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.");
  32 }
  33
  34
  35 /*
  36  * \brief
  37  * V prikazech je hodnota od zneni prikazu delena dvojteckou
  38  * tato funkce dvojtecku nahradi mezerou
  39  */
  40 static void delCol(char * txt){
  41         unsigned i=0;
  42         while(txt[i]!='\0'){
  43                 if (txt[i]==':') txt[i]=' ';
  44                 i++;
  45         }
  46 }
  47
  48 /*
  49  * Nastavi enable bity na pwm,
  50  * zapne komutaci
  51  */
  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);
  56 }
  57
  58 /*
  59  * \brief
  60  * Zastavi komutaci, vypne pwm
  61  */
  62 static void stop(struct rpi_state* state){
  63         sem_wait(&state->thd_par_sem);
  64         setCommutationOff(state);
  65         setRegulationOff(state);
  66         state->duty=0;
  67         state->pwm1=0;
  68         state->pwm2=0;
  69         state->pwm3=0;
  70         sem_post(&state->thd_par_sem);
  71 }
  72
  73 /*
  74  * \brief
  75  * Nastavi pevnou sirku plneni
  76  */
  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*/
  81         state->duty=duty;
  82         setRegulationOff(state);
  83         setCommutationOn(state);
  84         sem_post(&state->thd_par_sem);
  85 }
  86
  87 /*
  88  * \brief
  89  * Zapne rizeni na zvolenou polohu vztazenou k pozici pri startu
  90  */
  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);
  97 }
  98
  99 /*
 100  * \brief
 101  * Zapne nebo vypne pravidelne vypisovani hodnot.
 102  */
 103 static void changePrint(){
 104         doPrint=!doPrint;
 105 }
 106
 107 /*
 108  * \brief
 109  * Bezpecne ukonci program.
 110  */
 111 static void exitApp(struct rpi_state* state){
 112         stop(state);
 113         /* Note: atexit() is set before*/
 114         exit(0);
 115 }
 116 /*
 117  * \brief
 118  * Set speed.
 119  */
 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);
 128 }
 129
 130 /*
 131  * \brief
 132  * Set alpha offset.
 133  */
 134 static void setAlphaOff(struct rpi_state* state, int offset){
 135         if (offset<0) offset*=-1;
 136         offset%=1000;
 137         sem_wait(&state->thd_par_sem);
 138         state->alpha_offset=(unsigned short)offset;
 139         sem_post(&state->thd_par_sem);
 140 }
 141
 142 /**
 143  * \brief
 144  * SetLog
 145  * if logs are being logged, save them
 146  * if they are not, start log them
 147  */
 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){
 152                 state->doLogs=0;
 153                 sem_post(&state->thd_par_sem);
 154                 saveLogs(state);
 155         /* spustim zachytavani logu */
 156         }else{
 157                 logInit(state);
 158                 sem_post(&state->thd_par_sem);
 159         }
 160 }
 161
 162 /**
 163  * \brief
 164  * Commands detection.
 165  */
 166 void poll_cmd(struct rpi_state* state){
 167         unsigned int tmp;
 168         char buff[50];
 169         char cmd[30];
 170         int val;
 171
 172         while(1){
 173                 scanf("%49s",buff);
 174                 delCol(buff);
 175                 sscanf(buff,"%s %d",cmd,&val);
 176
 177
 178                 if (!strcmp(cmd,"start")){
 179                         start(state);
 180                 }else if (!strcmp(cmd,"0")){
 181                         stop(state);
 182                 }else if (!strcmp(cmd,"stop")){
 183                         stop(state);
 184                 }else if (!strcmp(cmd,"ga")){
 185                         goAbsolute(state,val);
 186                 }else if (!strcmp(cmd,"duty")){
 187                         dutySet(state,val);
 188                 }else if (!strcmp(cmd,"help")){
 189                         printHelp();
 190                 }else if (!strcmp(cmd,"print")){
 191                         changePrint();
 192                 }else if (!strcmp(cmd,"exit")){
 193                         exitApp(state);
 194                 }else if (!strcmp(cmd,"spd")){
 195                         setSpeed(state, val);
 196                 }else if (!strcmp(cmd,"log")){
 197                         setLogSEM(state);
 198                 }else if (!strcmp(cmd,"ao")){
 199                         setAlphaOff(state,val);
 200                 }
 201         }
 202
 203 }
 204
 205 /*
 206  * pocita procentualni odchylku od prumerneho proudu
 207  */
 208 static float diff_p(float value){
 209         return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
 210 }
 211 /*
 212  * pocita procentualni odchylku od prumerneho souctu proudu
 213  */
 214 static float diff_s(float value){
 215         return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
 216 }
 217
 218 /*
 219  * tiskne potrebna data
 220  */
 221 void printData(struct rpi_state* state){
 222         if (!doPrint) return;
 223
 224         struct rpi_in data_p;
 225         struct rpi_state s;     /*state*/
 226         float cur0, cur1, cur2;
 227         int i;
 228         /* copy the data */
 229         sem_wait(&state->thd_par_sem);
 230         data_p = *state->spi_dat;
 231         s=*state;
 232         sem_post(&state->thd_par_sem);
 233
 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;
 238         }
 239         for (i = 0; i < 16; i++) {
 240                         if (!(i % 6))
 241                                 puts("");
 242                         printf("%.2X ", data_p.debug_rx[i]);
 243         }
 244         puts("");
 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");
 270
 271 }