#include <stdlib.h>
#include <stdio.h>
+#include <string.h>
#include "cmd_proc.h"
+#define PRUM_PROUD 2061
+#define PRUM_SOUC 6183
+
+static char doPrint = 1;
+
+/*
+ * \brief
+ * Help
+ */
+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("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");
+ puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
+ puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
+
+ puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
+ puts("exit - Bezpecne ukonci program.");
+}
+
+
+/*
+ * \brief
+ * V prikazech je hodnota od zneni prikazu delena dvojteckou
+ * tato funkce dvojtecku nahradi mezerou
+ */
+static void delCol(char * txt){
+ unsigned i=0;
+ while(txt[i]!='\0'){
+ if (txt[i]==':') txt[i]=' ';
+ i++;
+ }
+}
+
+/*
+ * Nastavi enable bity na pwm,
+ * zapne komutaci
+ */
+static void start(struct rpi_state* state){
+ sem_wait(&state->thd_par_sem);
+ state->test=0x70; /*konfiguracni byte*/
+ sem_post(&state->thd_par_sem);
+}
+
+/*
+ * \brief
+ * Zastavi komutaci, vypne pwm
+ */
+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;
+ sem_post(&state->thd_par_sem);
+}
+
+/*
+ * \brief
+ * Nastavi pevnou sirku plneni
+ */
+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*/
+ state->duty=duty;
+ state->commutate=1;
+ state->pos_reg_ena=0;
+ sem_post(&state->thd_par_sem);
+}
+
+/*
+ * \brief
+ * Zapne rizeni na zvolenou polohu vztazenou k pozici pri startu
+ */
+static void goAbsolute(struct rpi_state* state, int pos){
+ sem_wait(&state->thd_par_sem);
+ state->pos_reg_ena=1;
+ state->desired_pos=pos;
+ sem_post(&state->thd_par_sem);
+}
+
+/*
+ * \brief
+ * Zapne nebo vypne pravidelne vypisovani hodnot.
+ */
+static void changePrint(){
+ doPrint=!doPrint;
+}
+
+/*
+ * \brief
+ * Bezpecne ukonci program.
+ */
+static void exitApp(struct rpi_state* state){
+ stop(state);
+ /* Note: atexit() is set before*/
+ exit(0);
+}
/**
* \brief
*/
void poll_cmd(struct rpi_state* state){
unsigned int tmp;
- /*
- * Note:
- * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
- * k preukladani hodnot na promenne test. Dost divne.
- */
- while (1){
- scanf("%u",&tmp);
- printf("volba=%u\n",tmp);
- switch (tmp){
- case 1:
- scanf("%u",&tmp);
- sem_wait(&state->thd_par_sem);
- state->pwm1=tmp&0xFFF;
- sem_post(&state->thd_par_sem);
- break;
- case 2:
- scanf("%u",&tmp);
- sem_wait(&state->thd_par_sem);
- state->pwm2=tmp&0xFFF;
- sem_post(&state->thd_par_sem);
- break;
- case 3:
- scanf("%u",&tmp);
- sem_wait(&state->thd_par_sem);
- state->pwm3=tmp&0xFFF;
- sem_post(&state->thd_par_sem);
- break;
- case 4:
- scanf("%u",&tmp);
- sem_wait(&state->thd_par_sem);
- state->test=tmp&0xFF;
- sem_post(&state->thd_par_sem);
- break;
- case 5:
- sem_wait(&state->thd_par_sem);
- state->commutate=!state->commutate;
- /* switch off pwms at the end of commutation */
- state->pwm1&=state->commutate*0xFFFF;
- state->pwm2&=state->commutate*0xFFFF;
- state->pwm3&=state->commutate*0xFFFF;
- sem_post(&state->thd_par_sem);
- break;
- case 6:
- scanf("%d",&tmp);
- sem_wait(&state->thd_par_sem);
- state->duty=tmp;
- sem_post(&state->thd_par_sem);
- break;
- case 7:
- scanf("%d",&tmp);
- sem_wait(&state->thd_par_sem);
- state->desired_pos=tmp;
- sem_post(&state->thd_par_sem);
- break;
-
- default:
- break;
- }
+ char buff[50];
+ char cmd[30];
+ int val;
- }
- return ;
+ while(1){
+ scanf("%49s",buff);
+ delCol(buff);
+ sscanf(buff,"%s %d",cmd,&val);
+
+
+ if (!strcmp(cmd,"start")){
+ start(state);
+ }else if (!strcmp(cmd,"0")){
+ stop(state);
+ }else if (!strcmp(cmd,"stop")){
+ stop(state);
+ }else if (!strcmp(cmd,"ga")){
+ goAbsolute(state,val);
+ }else if (!strcmp(cmd,"duty")){
+ dutySet(state,val);
+ }else if (!strcmp(cmd,"help")){
+ printHelp();
+ }else if (!strcmp(cmd,"print")){
+ changePrint();
+ }else if (!strcmp(cmd,"exit")){
+ exitApp(state);
+ }
+ }
+
+}
+
+/*
+ * pocita procentualni odchylku od prumerneho proudu
+ */
+float diff_p(float value){
+ return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
+}
+/*
+ * pocita procentualni odchylku od prumerneho souctu proudu
+ */
+float diff_s(float value){
+ return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
}
/*
* tiskne potrebna data
*/
void printData(struct rpi_state* state){
+ if (!doPrint) return;
+
struct rpi_in data_p;
struct rpi_state s; /*state*/
float cur0, cur1, cur2;
printf("raw_pozice=%u\n",data_p.pozice_raw);
printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
printf("index position=%u\n",data_p.index_position);
+ printf("distance to index=%u\n",s.index_dist);
printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
- printf("PWM1=%u(L.s.)\n",s.pwm1);
- printf("PWM2=%u(L.s.)\n",s.pwm2);
- printf("PWM3=%u(L.s.)\n",s.pwm3);
- printf("distance to index=%u\n",s.index_dist);
+ printf(" PWM1=%u PWM2=%u PWM3=%u\n",s.pwm1,s.pwm2,s.pwm3);
printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
projects / fpga / rpi-motor-control.git / blobdiff