Logging function moved to separate file.

[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..8f49e91595b677a47377f8183a1844ab0adc2c7d 100644 (file)
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -3,11 +3,13 @@
 #include <string.h>
 
 #include "cmd_proc.h"
 #include <string.h>
 
 #include "cmd_proc.h"

+#include "logs.h"

 
 #define PRUM_PROUD     2061
 #define PRUM_SOUC      6183
 
 static char doPrint = 1;
 
 #define PRUM_PROUD     2061
 #define PRUM_SOUC      6183
 
 static char doPrint = 1;

+static char error = 0;

 
 /*
  * \brief
 
 /*
  * \brief


@@ -16,9 +18,14 @@ static char doPrint = 1;
 static void printHelp(){
        doPrint=0;
        puts("start - Pripravi rizeni, zapne enable bity pwm.");
 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("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");

+       puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
+       puts("spd:[hodnota] - Zapne rizeni na danou rychlost.");
+       puts("log - Spusti nebo ulozi logovani.");
+       puts("ao:[hodnota] - Prenastavi alpha offset.");
+

        puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
        puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
        puts("exit - Bezpecne ukonci program.");
        puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
        puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
        puts("exit - Bezpecne ukonci program.");


@@ -45,7 +52,6 @@ static void delCol(char * txt){
 static void start(struct rpi_state* state){
        sem_wait(&state->thd_par_sem);
        state->test=0x70;       /*konfiguracni byte*/
 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);
 }
 
        sem_post(&state->thd_par_sem);
 }
 


@@ -55,8 +61,10 @@ static void start(struct rpi_state* state){
  */
 static void stop(struct rpi_state* state){
        sem_wait(&state->thd_par_sem);
  */
 static void stop(struct rpi_state* state){
        sem_wait(&state->thd_par_sem);

-       state->test=0;          /*konfiguracni byte*/

        state->commutate=0;
        state->commutate=0;

+       state->pos_reg_ena=0;
+       state->spd_reg_ena=0;
+       state->duty=0;

        state->pwm1=0;
        state->pwm2=0;
        state->pwm3=0;
        state->pwm1=0;
        state->pwm2=0;
        state->pwm3=0;


@@ -68,7 +76,14 @@ static void stop(struct rpi_state* state){
  * Nastavi pevnou sirku plneni
  */
 static void dutySet(struct rpi_state* state, int duty){
  * 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;
+       sem_post(&state->thd_par_sem);

 }
 
 /*
 }
 
 /*


@@ -77,6 +92,9 @@ static void dutySet(struct rpi_state* state, int duty){
  */
 static void goAbsolute(struct rpi_state* state, int pos){
        sem_wait(&state->thd_par_sem);
  */
 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);
 }
        state->desired_pos=pos;
        sem_post(&state->thd_par_sem);
 }


@@ -98,6 +116,73 @@ static void exitApp(struct rpi_state* state){
        /* Note: atexit() is set before*/
        exit(0);
 }
        /* Note: atexit() is set before*/
        exit(0);
 }

+/*
+ * \brief
+ * Set speed.
+ */
+static void setSpeed(struct rpi_state* state, int speed){
+       if (speed>MAX_SPEED) speed=MAX_SPEED;
+       if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
+       sem_wait(&state->thd_par_sem);
+       state->pos_reg_ena=0;
+       state->spd_reg_ena=1;
+       state->commutate=1;
+       state->desired_spd=speed;
+       sem_post(&state->thd_par_sem);
+}
+
+/*
+ * \brief
+ * Set alpha offset.
+ */
+static void setAlphaOff(struct rpi_state* state, int offset){
+       if (offset<0) offset*=-1;
+       offset%=1000;
+       sem_wait(&state->thd_par_sem);
+       state->alpha_offset=(unsigned short)offset;
+       sem_post(&state->thd_par_sem);
+}
+
+/*
+ * \brief
+ * Initialize logs
+ */
+static void logInit(struct rpi_state* state){
+       int r;
+       state->log_col=0;
+       state->log_col_count=LOG_DEF_COL;
+       for (r=0;r<LOG_ROWS;r++){
+               state->logs[r]=malloc(state->log_col_count*sizeof(int));
+               if (state->logs[r]==NULL){
+                       error=1;
+                       state->log_col_count=-1;
+                       return;
+               }
+       }
+       state->doLogs=1;
+}
+
+
+
+/**
+ * \brief
+ * SetLog
+ * if logs are being logged, save them
+ * if they are not, start log them
+ */
+static void setLogSEM(struct rpi_state* state){
+       sem_wait(&state->thd_par_sem);
+       /* ulozim logy a vypnu zachytavani*/
+       if (state->log_col_count){
+               state->doLogs=0;
+               sem_post(&state->thd_par_sem);
+               saveLogs(state);
+       /* spustim zachytavani logu */
+       }else{
+               logInit(state);
+               sem_post(&state->thd_par_sem);
+       }
+}

 
 /**
  * \brief
 
 /**
  * \brief


@@ -131,6 +216,12 @@ void poll_cmd(struct rpi_state* state){
                         changePrint();
                 }else if (!strcmp(cmd,"exit")){
                         exitApp(state);
                         changePrint();
                 }else if (!strcmp(cmd,"exit")){
                         exitApp(state);

+                }else if (!strcmp(cmd,"spd")){
+                        setSpeed(state, val);
+                }else if (!strcmp(cmd,"log")){
+                        setLogSEM(state);
+                }else if (!strcmp(cmd,"ao")){
+                       setAlphaOff(state,val);

                 }
         }
 
                 }
         }
 


@@ -139,13 +230,13 @@ void poll_cmd(struct rpi_state* state){
 /*
  * pocita procentualni odchylku od prumerneho proudu
  */
 /*
  * pocita procentualni odchylku od prumerneho proudu
  */

-float diff_p(float value){
+static float diff_p(float value){

        return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
 }
 /*
  * pocita procentualni odchylku od prumerneho souctu proudu
  */
        return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
 }
 /*
  * pocita procentualni odchylku od prumerneho souctu proudu
  */

-float diff_s(float value){
+static float diff_s(float value){

        return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
 }
 
        return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
 }
 


@@ -176,8 +267,11 @@ void printData(struct rpi_state* state){
                        printf("%.2X ", data_p.debug_rx[i]);
        }
        puts("");
                        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 pozice=%d\n",s.desired_pos);

+       printf("chtena rychlost=%d\n",s.desired_spd);
+       printf("alpha offset=%hu\n",s.alpha_offset);

        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));
        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));


@@ -196,4 +290,7 @@ void printData(struct rpi_state* state){
        printf("duty=%d\n",s.duty);
        if (s.index_ok) printf("index ok\n");
        if (s.commutate) printf("commutation in progress\n");
        printf("duty=%d\n",s.duty);
        if (s.index_ok) printf("index ok\n");
        if (s.commutate) printf("commutation in progress\n");

+       if (s.doLogs) printf("logujeme\n");
+       if (error) printf("error pri maloc logs!! \n");
+

 }
 }