7 #define PRUM_PROUD 2061
10 static char doPrint = 1;
16 static void printHelp(){
18 puts("start - Pripravi rizeni, zapne enable bity pwm.");
19 puts("stop - Vypne komutaci, pwm a rizeni.");
20 puts("0 - Vypne komutaci, pwm a rizeni.");
21 puts("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");
22 puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
23 puts("spd:[hodnota] - Zapne rizeni na danou rychlost.");
24 puts("log - Spusti nebo ulozi logovani.");
26 puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
27 puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
28 puts("exit - Bezpecne ukonci program.");
34 * V prikazech je hodnota od zneni prikazu delena dvojteckou
35 * tato funkce dvojtecku nahradi mezerou
37 static void delCol(char * txt){
40 if (txt[i]==':') txt[i]=' ';
46 * Nastavi enable bity na pwm,
49 static void start(struct rpi_state* state){
50 sem_wait(&state->thd_par_sem);
51 state->test=0x70; /*konfiguracni byte*/
52 sem_post(&state->thd_par_sem);
57 * Zastavi komutaci, vypne pwm
59 static void stop(struct rpi_state* state){
60 sem_wait(&state->thd_par_sem);
65 sem_post(&state->thd_par_sem);
70 * Nastavi pevnou sirku plneni
72 static void dutySet(struct rpi_state* state, int duty){
73 sem_wait(&state->thd_par_sem);
74 if (duty>MAX_DUTY) duty=MAX_DUTY;
75 if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
80 sem_post(&state->thd_par_sem);
85 * Zapne rizeni na zvolenou polohu vztazenou k pozici pri startu
87 static void goAbsolute(struct rpi_state* state, int pos){
88 sem_wait(&state->thd_par_sem);
92 state->desired_pos=pos;
93 sem_post(&state->thd_par_sem);
98 * Zapne nebo vypne pravidelne vypisovani hodnot.
100 static void changePrint(){
106 * Bezpecne ukonci program.
108 static void exitApp(struct rpi_state* state){
110 /* Note: atexit() is set before*/
117 static void setSpeed(struct rpi_state* state, int speed){
118 if (speed>MAX_SPEED) speed=MAX_SPEED;
119 if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
120 sem_wait(&state->thd_par_sem);
121 state->pos_reg_ena=0;
122 state->spd_reg_ena=1;
124 state->desired_spd=speed;
125 sem_post(&state->thd_par_sem);
132 static void logInit(struct rpi_state* state){
135 state->log_col_count=LOG_DEF_COL;
136 for (r=0;r<LOG_ROWS;r++){
137 state->logs[r]=malloc(state->log_col_count*sizeof(int));
145 static void saveLogs(struct rpi_state* state){
149 f = fopen("logs.txt", "w");
151 printf("Error opening file!\n");
155 for (r=0;r<LOG_ROWS;r++){
156 for(s=0;s<state->log_col-1;s++){ /*posledni sloupec je vevyplneny*/
157 if (s==state->log_col-2){
158 fprintf(f,"%d ",state->logs[r][s]);
160 fprintf(f,"%d, ",state->logs[r][s]);
172 * if logs are being logged, save them
173 * if they are not, start log them
175 static void setLogSEM(struct rpi_state* state){
176 sem_wait(&state->thd_par_sem);
177 /* ulozim logy a vypnu zachytavani*/
178 if (state->log_col_count){
180 sem_post(&state->thd_par_sem);
182 /* spustim zachytavani logu */
186 sem_post(&state->thd_par_sem);
192 * Commands detection.
194 void poll_cmd(struct rpi_state* state){
203 sscanf(buff,"%s %d",cmd,&val);
206 if (!strcmp(cmd,"start")){
208 }else if (!strcmp(cmd,"0")){
210 }else if (!strcmp(cmd,"stop")){
212 }else if (!strcmp(cmd,"ga")){
213 goAbsolute(state,val);
214 }else if (!strcmp(cmd,"duty")){
216 }else if (!strcmp(cmd,"help")){
218 }else if (!strcmp(cmd,"print")){
220 }else if (!strcmp(cmd,"exit")){
222 }else if (!strcmp(cmd,"spd")){
223 setSpeed(state, val);
224 }else if (!strcmp(cmd,"log")){
232 * pocita procentualni odchylku od prumerneho proudu
234 static float diff_p(float value){
235 return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
238 * pocita procentualni odchylku od prumerneho souctu proudu
240 static float diff_s(float value){
241 return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
245 * tiskne potrebna data
247 void printData(struct rpi_state* state){
248 if (!doPrint) return;
250 struct rpi_in data_p;
251 struct rpi_state s; /*state*/
252 float cur0, cur1, cur2;
255 sem_wait(&state->thd_par_sem);
256 data_p = *state->spi_dat;
258 sem_post(&state->thd_par_sem);
260 if (data_p.adc_m_count){
261 cur0=data_p.ch0/data_p.adc_m_count;
262 cur1=data_p.ch1/data_p.adc_m_count;
263 cur2=data_p.ch2/data_p.adc_m_count;
265 for (i = 0; i < 16; i++) {
268 printf("%.2X ", data_p.debug_rx[i]);
271 printf("\npozice=%ld\n",data_p.pozice);
272 printf("rychlost=%d\n",s.speed);
273 printf("chtena pozice=%d\n",s.desired_pos);
274 printf("chtena rychlost=%d\n",s.desired_spd);
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");