Modified program exit behavior.

[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..35ed9c29f54bbf0bec7acd1438959416aa8fb990 100644 (file)
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -16,8 +16,8 @@ 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.");
@@ -58,7 +58,6 @@ 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;
@@ -86,6 +85,7 @@ 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->pos_reg_ena=1;
+       state->commutate=1;
        state->desired_pos=pos;
        sem_post(&state->thd_par_sem);
 }
@@ -168,12 +168,14 @@ void printData(struct rpi_state* state){
        struct rpi_state s;     /*state*/
        float cur0, cur1, cur2;
        int i;
+       signed long int speed;
        /* copy the data */
        sem_wait(&state->thd_par_sem);
        data_p = *state->spi_dat;
        s=*state;
        sem_post(&state->thd_par_sem);
 
+       speed=data_p.pozice-s.old_pos;
        if (data_p.adc_m_count){
                cur0=data_p.ch0/data_p.adc_m_count;
                cur1=data_p.ch1/data_p.adc_m_count;
@@ -185,7 +187,8 @@ 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=%u\n",data_p.pozice);
+       printf("rychlost=%ld\n",speed);
        printf("chtena pozice=%d\n",s.desired_pos);
        printf("transfer count=%u\n",s.tf_count);
        printf("raw_pozice=%u\n",data_p.pozice_raw);