#include <stdlib.h>
#include <stdio.h>
+#include <string.h>
#include "cmd_proc.h"
+#include "logs.h"
+
+#define PRUM_PROUD 2061
+#define PRUM_SOUC 6183
+
+static char doPrint = 1;
+static char error = 0;
+
+/*
+ * \brief
+ * Help
+ */
+static void printHelp(){
+ doPrint=0;
+ puts("start - Pripravi rizeni, zapne enable bity pwm.");
+ 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("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.");
+}
+
+
+/*
+ * \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->commutate=0;
+ state->pos_reg_ena=0;
+ state->spd_reg_ena=0;
+ state->duty=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>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);
+}
+
+/*
+ * \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->spd_reg_ena=0;
+ state->pos_reg_ena=1;
+ state->commutate=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
+ * 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
* Commands detection.
*/
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;
+
+ 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);
+ }else if (!strcmp(cmd,"spd")){
+ setSpeed(state, val);
+ }else if (!strcmp(cmd,"log")){
+ setLogSEM(state);
+ }else if (!strcmp(cmd,"ao")){
+ setAlphaOff(state,val);
+ }
+ }
+}
+
+/*
+ * pocita procentualni odchylku od prumerneho proudu
+ */
+static float diff_p(float value){
+ return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
+}
+/*
+ * pocita procentualni odchylku od prumerneho souctu proudu
+ */
+static 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;
+ int i;
+ /* copy the data */
+ sem_wait(&state->thd_par_sem);
+ data_p = *state->spi_dat;
+ s=*state;
+ sem_post(&state->thd_par_sem);
+
+ if (data_p.adc_m_count){
+ cur0=data_p.ch0/data_p.adc_m_count;
+ cur1=data_p.ch1/data_p.adc_m_count;
+ cur2=data_p.ch2/data_p.adc_m_count;
}
- return ;
+ for (i = 0; i < 16; i++) {
+ if (!(i % 6))
+ puts("");
+ printf("%.2X ", data_p.debug_rx[i]);
+ }
+ puts("");
+ 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("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("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 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));
+ printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
+ printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
+ printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
+ 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");
+
}
projects / fpga / rpi-motor-control.git / blobdiff