-/*
- * pocita procentualni odchylku od prumerneho proudu
- */
-float diff_p(float value){
- return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
-}
-/*
- * pocita procentualni odchylku od prumerneho souctu proudu
- */
-float diff_s(float value){
- return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
-}
-/*
- * tiskne potrebna data
- */
-void printData(){
- struct rpi_in data_p;
- struct rpi_state s; /*state*/
- float cur0, cur1, cur2;
- int i;
- /* copy the data */
- sem_wait(&rps.thd_par_sem);
- data_p = data;
- s=rps;
- sem_post(&rps.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;
- }
- for (i = 0; i < 16; i++) {
- if (!(i % 6))
- puts("");
- printf("%.2X ", data_p.debug_rx[i]);
- }
- puts("");
- printf("\npozice=%d\n",(int32_t)data_p.pozice);
- printf("chtena pozice=%d\n",s.desired_pos);
- 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("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(L.s.)\n",s.pwm1);
- printf("PWM2=%u(L.s.)\n",s.pwm2);
- printf("PWM3=%u(L.s.)\n",s.pwm3);
- printf("distance to index=%u\n",s.index_dist);
- 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");
-}
-void prepare_tx(uint8_t * tx){
-
- /*Data format:
- * tx[4] - bity 95 downto 88 - bits that are sent first
- * tx[5] - bity 87 downto 80
- * tx[6] - bity 79 downto 72
- * tx[7] - bity 71 downto 64
- * tx[8] - bity 63 downto 56
- * tx[9] - bity 55 downto 48
- * tx[10] - bity 47 downto 40
- * tx[11] - bity 39 downto 32
- * tx[12] - bity 31 downto 24
- * tx[13] - bity 23 downto 16
- * tx[14] - bity 15 downto 8
- * tx[15] - bity 7 downto 0
- *
- * bit 95 - ADC reset
- * bit 94 - enable PWM1
- * bit 93 - enable PWM2
- * bit 92 - enable PWM3
- * bit 91 - shutdown1
- * bit 90 - shutdown2
- * bit 89 - shutdown3
- * .
- * .
- * Unused
- * .
- * .
- * bits 47 .. 32 - match PWM1
- * bits 31 .. 16 - match PWM2
- * bits 15 .. 0 - match PWM3
- */
-
-
- uint16_t tmp;
-
- /* keep the 11-bit cap*/
-
- if (rps.pwm1>2047) rps.pwm1=2047;
- if (rps.pwm2>2047) rps.pwm2=2047;
- if (rps.pwm3>2047) rps.pwm3=2047;
-
- 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[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
- tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
-
- /*pwm2*/
- tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
- tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
-
- /*pwm3*/
- tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
- tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/