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
   7 #define PRUM_PROUD      2061
   8 #define PRUM_SOUC       6183
   9
  10 static char doPrint = 1;
  11 static char error = 0;
  12
  13 /*
  14  * \brief
  15  * Help
  16  */
  17 static void printHelp(){
  18         doPrint=0;
  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.");
  26
  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.");
  30 }
  31
  32
  33 /*
  34  * \brief
  35  * V prikazech je hodnota od zneni prikazu delena dvojteckou
  36  * tato funkce dvojtecku nahradi mezerou
  37  */
  38 static void delCol(char * txt){
  39         unsigned i=0;
  40         while(txt[i]!='\0'){
  41                 if (txt[i]==':') txt[i]=' ';
  42                 i++;
  43         }
  44 }
  45
  46 /*
  47  * Nastavi enable bity na pwm,
  48  * zapne komutaci
  49  */
  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);
  54 }
  55
  56 /*
  57  * \brief
  58  * Zastavi komutaci, vypne pwm
  59  */
  60 static void stop(struct rpi_state* state){
  61         sem_wait(&state->thd_par_sem);
  62         state->commutate=0;
  63         state->pwm1=0;
  64         state->pwm2=0;
  65         state->pwm3=0;
  66         sem_post(&state->thd_par_sem);
  67 }
  68
  69 /*
  70  * \brief
  71  * Nastavi pevnou sirku plneni
  72  */
  73 static void dutySet(struct rpi_state* state, int duty){
  74         sem_wait(&state->thd_par_sem);
  75         if (duty>MAX_DUTY) duty=MAX_DUTY;
  76         if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
  77         state->duty=duty;
  78         state->pos_reg_ena=0;
  79         state->spd_reg_ena=0;
  80         state->commutate=1;
  81         sem_post(&state->thd_par_sem);
  82 }
  83
  84 /*
  85  * \brief
  86  * Zapne rizeni na zvolenou polohu vztazenou k pozici pri startu
  87  */
  88 static void goAbsolute(struct rpi_state* state, int pos){
  89         sem_wait(&state->thd_par_sem);
  90         state->spd_reg_ena=0;
  91         state->pos_reg_ena=1;
  92         state->commutate=1;
  93         state->desired_pos=pos;
  94         sem_post(&state->thd_par_sem);
  95 }
  96
  97 /*
  98  * \brief
  99  * Zapne nebo vypne pravidelne vypisovani hodnot.
 100  */
 101 static void changePrint(){
 102         doPrint=!doPrint;
 103 }
 104
 105 /*
 106  * \brief
 107  * Bezpecne ukonci program.
 108  */
 109 static void exitApp(struct rpi_state* state){
 110         stop(state);
 111         /* Note: atexit() is set before*/
 112         exit(0);
 113 }
 114 /*
 115  * \brief
 116  * Set speed.
 117  */
 118 static void setSpeed(struct rpi_state* state, int speed){
 119         if (speed>MAX_SPEED) speed=MAX_SPEED;
 120         if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
 121         sem_wait(&state->thd_par_sem);
 122         state->pos_reg_ena=0;
 123         state->spd_reg_ena=1;
 124         state->commutate=1;
 125         state->desired_spd=speed;
 126         sem_post(&state->thd_par_sem);
 127 }
 128
 129 /*
 130  * \brief
 131  * Initialize logs
 132  */
 133 static void logInit(struct rpi_state* state){
 134         int r;
 135         state->log_col=0;
 136         state->log_col_count=LOG_DEF_COL;
 137         for (r=0;r<LOG_ROWS;r++){
 138                 state->logs[r]=malloc(state->log_col_count*sizeof(int));
 139                 if (state->logs[r]==NULL){
 140                         error=1;
 141                         state->log_col_count=-1;
 142                         return;
 143                 }
 144         }
 145         state->doLogs=1;
 146 }
 147
 148 /*
 149  * \brief
 150  * Save logs
 151  */
 152 static void saveLogs(struct rpi_state* state){
 153         FILE *f;
 154         int r,s;
 155
 156         f = fopen("logs.txt", "w");
 157         if (f == NULL){
 158                 printf("Error opening file!\n");
 159                 return;
 160         }
 161
 162         for (r=0;r<LOG_ROWS;r++){
 163                 for(s=0;s<state->log_col-1;s++){        /*posledni sloupec je vevyplneny*/
 164                         if (s==state->log_col-2){
 165                                 fprintf(f,"%d ",state->logs[r][s]);
 166                         }else{
 167                                 fprintf(f,"%d, ",state->logs[r][s]);
 168                         }
 169                 }
 170                 fprintf(f,"\r");
 171         }
 172         fclose(f);
 173         freeLogs();
 174 }
 175
 176 /**
 177  * \brief
 178  * SetLog
 179  * if logs are being logged, save them
 180  * if they are not, start log them
 181  */
 182 static void setLogSEM(struct rpi_state* state){
 183         sem_wait(&state->thd_par_sem);
 184         /* ulozim logy a vypnu zachytavani*/
 185         if (state->log_col_count){
 186                 state->doLogs=0;
 187                 sem_post(&state->thd_par_sem);
 188                 saveLogs(state);
 189         /* spustim zachytavani logu */
 190         }else{
 191                 logInit(state);
 192                 sem_post(&state->thd_par_sem);
 193         }
 194 }
 195
 196 /**
 197  * \brief
 198  * Commands detection.
 199  */
 200 void poll_cmd(struct rpi_state* state){
 201         unsigned int tmp;
 202         char buff[50];
 203         char cmd[30];
 204         int val;
 205
 206         while(1){
 207                 scanf("%49s",buff);
 208                 delCol(buff);
 209                 sscanf(buff,"%s %d",cmd,&val);
 210
 211
 212                 if (!strcmp(cmd,"start")){
 213                         start(state);
 214                 }else if (!strcmp(cmd,"0")){
 215                         stop(state);
 216                 }else if (!strcmp(cmd,"stop")){
 217                         stop(state);
 218                 }else if (!strcmp(cmd,"ga")){
 219                         goAbsolute(state,val);
 220                 }else if (!strcmp(cmd,"duty")){
 221                         dutySet(state,val);
 222                 }else if (!strcmp(cmd,"help")){
 223                         printHelp();
 224                 }else if (!strcmp(cmd,"print")){
 225                         changePrint();
 226                 }else if (!strcmp(cmd,"exit")){
 227                         exitApp(state);
 228                 }else if (!strcmp(cmd,"spd")){
 229                         setSpeed(state, val);
 230                 }else if (!strcmp(cmd,"log")){
 231                         setLogSEM(state);
 232                 }
 233         }
 234
 235 }
 236
 237 /*
 238  * pocita procentualni odchylku od prumerneho proudu
 239  */
 240 static float diff_p(float value){
 241         return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
 242 }
 243 /*
 244  * pocita procentualni odchylku od prumerneho souctu proudu
 245  */
 246 static float diff_s(float value){
 247         return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
 248 }
 249
 250 /*
 251  * tiskne potrebna data
 252  */
 253 void printData(struct rpi_state* state){
 254         if (!doPrint) return;
 255
 256         struct rpi_in data_p;
 257         struct rpi_state s;     /*state*/
 258         float cur0, cur1, cur2;
 259         int i;
 260         /* copy the data */
 261         sem_wait(&state->thd_par_sem);
 262         data_p = *state->spi_dat;
 263         s=*state;
 264         sem_post(&state->thd_par_sem);
 265
 266         if (data_p.adc_m_count){
 267                 cur0=data_p.ch0/data_p.adc_m_count;
 268                 cur1=data_p.ch1/data_p.adc_m_count;
 269                 cur2=data_p.ch2/data_p.adc_m_count;
 270         }
 271         for (i = 0; i < 16; i++) {
 272                         if (!(i % 6))
 273                                 puts("");
 274                         printf("%.2X ", data_p.debug_rx[i]);
 275         }
 276         puts("");
 277         printf("\npozice=%ld\n",data_p.pozice);
 278         printf("rychlost=%d\n",s.speed);
 279         printf("chtena pozice=%d\n",s.desired_pos);
 280         printf("chtena rychlost=%d\n",s.desired_spd);
 281         printf("transfer count=%u\n",s.tf_count);
 282         printf("raw_pozice=%u\n",data_p.pozice_raw);
 283         printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
 284         printf("index position=%u\n",data_p.index_position);
 285         printf("distance to index=%u\n",s.index_dist);
 286         printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
 287         printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
 288         printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
 289         printf("  PWM1=%u   PWM2=%u   PWM3=%u\n",s.pwm1,s.pwm2,s.pwm3);
 290         printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
 291         printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
 292         printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
 293         printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
 294         printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
 295         printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
 296         printf("duty=%d\n",s.duty);
 297         if (s.index_ok) printf("index ok\n");
 298         if (s.commutate) printf("commutation in progress\n");
 299         if (s.doLogs) printf("logujeme\n");
 300         if (error) printf("error pri maloc logs!! \n");
 301
 302 }