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 d5e30201f864ef8a2a79eccb6dfbd25acb6638ce..640002fa969ff9f0db6860ab2fbf1c9892826af3 100644 (file)
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -16,9 +16,12 @@ 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("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.");
@@ -45,7 +48,6 @@ 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);
 }
 
@@ -55,7 +57,6 @@ 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->pwm1=0;
        state->pwm2=0;
@@ -68,7 +69,15 @@ 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>MAX_DUTY) duty=MAX_DUTY;
+       if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
+       state->duty=duty;
+       state->pos_reg_ena=0;
+       state->spd_reg_ena=0;
+       state->commutate=1;
+       printf("duty=");
+       sem_post(&state->thd_par_sem);
 }
 
 /*
@@ -77,6 +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);
 }
@@ -98,6 +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
@@ -131,6 +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);
                 }
         }
 
@@ -176,8 +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));