pmsm-control/test_sw/cmd_proc.c

   1 #include <stdlib.h>
   2 #include <stdio.h>
   3
   4 #include "cmd_proc.h"
   5
   6 #define PRUM_PROUD      2061
   7 #define PRUM_SOUC       6183
   8
   9 /**
  10  * \brief
  11  * Commands detection.
  12  */
  13 void poll_cmd(struct rpi_state* state){
  14         unsigned int tmp;
  15         /*
  16          * Note:
  17          * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
  18          * k preukladani hodnot na promenne test. Dost divne.
  19          */
  20         while (1){
  21                 scanf("%u",&tmp);
  22                 printf("volba=%u\n",tmp);
  23                 switch (tmp){
  24                 case 1:
  25                         scanf("%u",&tmp);
  26                         sem_wait(&state->thd_par_sem);
  27                         state->pwm1=tmp&0xFFF;
  28                         sem_post(&state->thd_par_sem);
  29                         break;
  30                 case 2:
  31                         scanf("%u",&tmp);
  32                         sem_wait(&state->thd_par_sem);
  33                         state->pwm2=tmp&0xFFF;
  34                         sem_post(&state->thd_par_sem);
  35                         break;
  36                 case 3:
  37                         scanf("%u",&tmp);
  38                         sem_wait(&state->thd_par_sem);
  39                         state->pwm3=tmp&0xFFF;
  40                         sem_post(&state->thd_par_sem);
  41                         break;
  42                 case 4:
  43                         scanf("%u",&tmp);
  44                         sem_wait(&state->thd_par_sem);
  45                         state->test=tmp&0xFF;
  46                         sem_post(&state->thd_par_sem);
  47                         break;
  48                 case 5:
  49                         sem_wait(&state->thd_par_sem);
  50                         state->commutate=!state->commutate;
  51                         /* switch off pwms at the end of commutation */
  52                         state->pwm1&=state->commutate*0xFFFF;
  53                         state->pwm2&=state->commutate*0xFFFF;
  54                         state->pwm3&=state->commutate*0xFFFF;
  55                         sem_post(&state->thd_par_sem);
  56                         break;
  57                 case 6:
  58                         scanf("%d",&tmp);
  59                         sem_wait(&state->thd_par_sem);
  60                         state->duty=tmp;
  61                         sem_post(&state->thd_par_sem);
  62                         break;
  63                 case 7:
  64                         scanf("%d",&tmp);
  65                         sem_wait(&state->thd_par_sem);
  66                         state->desired_pos=tmp;
  67                         sem_post(&state->thd_par_sem);
  68                         break;
  69
  70                 default:
  71                         break;
  72                 }
  73
  74         }
  75         return ;
  76 }
  77 /*
  78  * pocita procentualni odchylku od prumerneho proudu
  79  */
  80 float diff_p(float value){
  81         return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
  82 }
  83 /*
  84  * pocita procentualni odchylku od prumerneho souctu proudu
  85  */
  86 float diff_s(float value){
  87         return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
  88 }
  89
  90 /*
  91  * tiskne potrebna data
  92  */
  93 void printData(struct rpi_state* state){
  94         struct rpi_in data_p;
  95         struct rpi_state s;     /*state*/
  96         float cur0, cur1, cur2;
  97         int i;
  98         /* copy the data */
  99         sem_wait(&state->thd_par_sem);
 100         data_p = *state->spi_dat;
 101         s=*state;
 102         sem_post(&state->thd_par_sem);
 103
 104         if (data_p.adc_m_count){
 105                 cur0=data_p.ch0/data_p.adc_m_count;
 106                 cur1=data_p.ch1/data_p.adc_m_count;
 107                 cur2=data_p.ch2/data_p.adc_m_count;
 108         }
 109         for (i = 0; i < 16; i++) {
 110                         if (!(i % 6))
 111                                 puts("");
 112                         printf("%.2X ", data_p.debug_rx[i]);
 113         }
 114         puts("");
 115         printf("\npozice=%d\n",(int32_t)data_p.pozice);
 116         printf("chtena pozice=%d\n",s.desired_pos);
 117         printf("transfer count=%u\n",s.tf_count);
 118         printf("raw_pozice=%u\n",data_p.pozice_raw);
 119         printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
 120         printf("index position=%u\n",data_p.index_position);
 121         printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
 122         printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
 123         printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
 124         printf("PWM1=%u(L.s.)\n",s.pwm1);
 125         printf("PWM2=%u(L.s.)\n",s.pwm2);
 126         printf("PWM3=%u(L.s.)\n",s.pwm3);
 127         printf("distance to index=%u\n",s.index_dist);
 128         printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
 129         printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
 130         printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
 131         printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
 132         printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
 133         printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
 134         printf("duty=%d\n",s.duty);
 135         if (s.index_ok) printf("index ok\n");
 136         if (s.commutate) printf("commutation in progress\n");
 137 }