Usleep replaced by clock_nasosleep.

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

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 5759c970e92d0ceaf0fc745ba9bd565d4bdebf6f..51951504c3ea5621e02d9a887ffa58b5547234b7 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -15,6 +15,7 @@
 #include <sched.h>     /*sheduler*/
 #include <unistd.h>    /*usleep*/
 #include <pthread.h>   /*threads*/
+#include <time.h>      /*nanosleep*/
 
 #include "rpin.h"      /*gpclk*/
 #include "rp_spi.h"    /*spi*/
@@ -50,6 +51,8 @@
 #define PXMC_SIN_FIX_PI2      0x40000000
 #define PXMC_SIN_FIX_2PI3     0x55555555
 
+#define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
+
 struct sigaction sighnd; /*struktura pro signal handler*/
 struct rpi_in data;
 struct rpi_state{
@@ -185,17 +188,18 @@ void prepare_tx(uint8_t * tx){
         * bit 89 - shutdown3
         *      .
         *      .
+        *      Unused
+        *      .
         *      .
-        * bits 66 .. 56 - match PWM1
-        * bits 55 .. 45 - match PWM2
-        * bit 11,12 - Unused
-        * bits 42 .. 32  - match PWM3
+        * bits 47 .. 32 - match PWM1
+        * bits 31 .. 16 - match PWM2
+        * bits 15 .. 0  - match PWM3
         */
 
 
        uint16_t tmp;
 
-       /* keep the cap*/
+       /* keep the 11-bit cap*/
 
        if (rps.pwm1>2047) rps.pwm1=2047;
        if (rps.pwm2>2047) rps.pwm2=2047;
@@ -203,19 +207,19 @@ void prepare_tx(uint8_t * tx){
 
        tx[0]=rps.test; /*bit 94 - enable PWM1*/
 
+       /*now we have to switch the bytes due to endianess */
+       /* ARMv6 & ARMv7 instructions are little endian */
        /*pwm1*/
-       tx[7]=(tx[7] & 0xF8) | (0x07 & ((uint8_t*)&rps.pwm1)[1]); /*MSB*/
-       tx[8]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
+       tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
+       tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
 
        /*pwm2*/
-       tmp=rps.pwm2;
-       tmp<<=5;
-       tx[9]=((uint8_t*)&tmp)[1]; /*MSB*/
-       tx[10]=(tx[10] & 0x1F) | (0xE0 & ((uint8_t*)&tmp)[0]); /*LSB*/
+       tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
+       tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
 
        /*pwm3*/
-       tx[10]=(tx[10] & 0xF8) | (0x07 & ((uint8_t*)&rps.pwm3)[1]); /*MSB*/
-       tx[11]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
+       tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
+       tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 
 
 }
@@ -426,20 +430,25 @@ inline void pid(){
 /*
  * \brief
  * Feedback loop.
- * TODO: replace usleep with real-time wait
- *     measure times
  */
 void * read_data(void* param){
        int i;
        struct rpi_in pocatek;
+       struct timespec t;
+       int interval = 1000000; /* 1ms ~ 1kHz*/
        uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
        char first=1;
        uint16_t last_index;                            /*we have index up-to date*/
        set_priority(param);                            /*set priority*/
        pocatek = spi_read(tx);
+       clock_gettime(CLOCK_MONOTONIC ,&t);
+       /* start after one second */
+       t.tv_sec++;
                while(1){
-                       prepare_tx(tx);                 /*save the data to send*/
+                       /* wait until next shot */
+                       clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
                        sem_wait(&thd_par_sem);         /*---take semaphore---*/
+                       prepare_tx(tx);                 /*save the data to send*/
                        data = spi_read(tx);            /*exchange data*/
                        /*subtract initiate postion */
                        rps.tf_count++;
@@ -461,7 +470,15 @@ void * read_data(void* param){
                                simple_hall_commutator(rps.duty);
                        }
                        sem_post(&thd_par_sem);         /*--post semaphore---*/
-                       usleep(1000);                           /*1kHz*/
+
+                       /* calculate next shot */
+                       t.tv_nsec += interval;
+
+                       while (t.tv_nsec >= NSEC_PER_SEC) {
+                               t.tv_nsec -= NSEC_PER_SEC;
+                               t.tv_sec++;
+                       }
+
                }
 }