Added speed regulation.

[fpga/rpi-motor-control.git] / pmsm-control / test_sw / cmd_proc.c

diff --git a/pmsm-control/test_sw/cmd_proc.c b/pmsm-control/test_sw/cmd_proc.c
index 46ff07009a9a81638787ac206f7e12b78bddf29f..640002fa969ff9f0db6860ab2fbf1c9892826af3 100644 (file)
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -16,12 +16,13 @@ static char doPrint = 1;
 static void printHelp(){
        doPrint=0;
        puts("start - Pripravi rizeni, zapne enable bity pwm.");
-       puts("stop - Vypne pwm a rizeni. Enable bity na nulu.");
-       puts("0 - Vypne pwm a rizeni. Enable bity na nulu.");
+       puts("stop - Vypne komutaci, pwm a rizeni.");
+       puts("0 - Vypne komutaci, pwm a rizeni.");
        puts("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");
-       puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
        puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
+       puts("spd:[hodnota] - Zapne rizeni na danou rychlost.");
 
+       puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
        puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
        puts("exit - Bezpecne ukonci program.");
 }
@@ -56,9 +57,7 @@ static void start(struct rpi_state* state){
  */
 static void stop(struct rpi_state* state){
        sem_wait(&state->thd_par_sem);
-       state->test=0;          /*konfiguracni byte*/
        state->commutate=0;
-       state->pos_reg_ena=0;
        state->pwm1=0;
        state->pwm2=0;
        state->pwm3=0;
@@ -71,11 +70,13 @@ static void stop(struct rpi_state* state){
  */
 static void dutySet(struct rpi_state* state, int duty){
        sem_wait(&state->thd_par_sem);
-       if (duty>512) duty=512;
-       if (duty<-512) duty=-512;/*paranoia*/
+       if (duty>MAX_DUTY) duty=MAX_DUTY;
+       if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
        state->duty=duty;
-       state->commutate=1;
        state->pos_reg_ena=0;
+       state->spd_reg_ena=0;
+       state->commutate=1;
+       printf("duty=");
        sem_post(&state->thd_par_sem);
 }
 
@@ -85,7 +86,9 @@ static void dutySet(struct rpi_state* state, int duty){
  */
 static void goAbsolute(struct rpi_state* state, int pos){
        sem_wait(&state->thd_par_sem);
+       state->spd_reg_ena=0;
        state->pos_reg_ena=1;
+       state->commutate=1;
        state->desired_pos=pos;
        sem_post(&state->thd_par_sem);
 }
@@ -107,6 +110,20 @@ static void exitApp(struct rpi_state* state){
        /* Note: atexit() is set before*/
        exit(0);
 }
+/*
+ * \brief
+ * Set speed.
+ */
+static void setSpeed(struct rpi_state* state, int speed){
+       sem_wait(&state->thd_par_sem);
+       if (speed>MAX_SPEED) speed=MAX_SPEED;
+       if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
+       state->pos_reg_ena=0;
+       state->spd_reg_ena=1;
+       state->commutate=1;
+       state->desired_spd=speed;
+       sem_post(&state->thd_par_sem);
+}
 
 /**
  * \brief
@@ -140,6 +157,8 @@ void poll_cmd(struct rpi_state* state){
                         changePrint();
                 }else if (!strcmp(cmd,"exit")){
                         exitApp(state);
+                }else if (!strcmp(cmd,"spd")){
+                        setSpeed(state, val);
                 }
         }
 
@@ -185,8 +204,10 @@ void printData(struct rpi_state* state){
                        printf("%.2X ", data_p.debug_rx[i]);
        }
        puts("");
-       printf("\npozice=%d\n",(int32_t)data_p.pozice);
+       printf("\npozice=%ld\n",data_p.pozice);
+       printf("rychlost=%d\n",s.speed);
        printf("chtena pozice=%d\n",s.desired_pos);
+       printf("chtena rychlost=%d\n",s.desired_spd);
        printf("transfer count=%u\n",s.tf_count);
        printf("raw_pozice=%u\n",data_p.pozice_raw);
        printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));