Controll loop now more complex.

[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 d5e30201f864ef8a2a79eccb6dfbd25acb6638ce..46ff07009a9a81638787ac206f7e12b78bddf29f 100644 (file)
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -20,6 +20,8 @@ static void printHelp(){
        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.");
 }
@@ -45,7 +47,6 @@ static void delCol(char * txt){
 static void start(struct rpi_state* state){
        sem_wait(&state->thd_par_sem);
        state->test=0x70;       /*konfiguracni byte*/
-       state->commutate=1;
        sem_post(&state->thd_par_sem);
 }
 
@@ -57,6 +58,7 @@ 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;
@@ -68,7 +70,13 @@ static void stop(struct rpi_state* state){
  * 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);
 }
 
 /*
@@ -77,6 +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->desired_pos=pos;
        sem_post(&state->thd_par_sem);
 }