Regulation function now implemented with use of polymorphism.

[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 640002fa969ff9f0db6860ab2fbf1c9892826af3..66e9be804b321c4540db865cc353f8072d094e57 100644 (file)
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -3,12 +3,14 @@
 #include <string.h>
 
 #include "cmd_proc.h"
+#include "logs.h"
 
 #define PRUM_PROUD     2061
 #define PRUM_SOUC      6183
 
 static char doPrint = 1;
 
+
 /*
  * \brief
  * Help
@@ -21,6 +23,8 @@ static void printHelp(){
        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.");
@@ -57,7 +61,9 @@ static void start(struct rpi_state* state){
  */
 static void stop(struct rpi_state* state){
        sem_wait(&state->thd_par_sem);
-       state->commutate=0;
+       setCommutationOff(state);
+       setRegulationOff(state);
+       state->duty=0;
        state->pwm1=0;
        state->pwm2=0;
        state->pwm3=0;
@@ -73,10 +79,8 @@ static void dutySet(struct rpi_state* state, int duty){
        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=");
+       setRegulationOff(state);
+       setCommutationOn(state);
        sem_post(&state->thd_par_sem);
 }
 
@@ -86,9 +90,8 @@ 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;
+       setRegulationPos(state);
+       setCommutationOn(state);
        state->desired_pos=pos;
        sem_post(&state->thd_par_sem);
 }
@@ -115,16 +118,47 @@ static void exitApp(struct rpi_state* state){
  * 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;
+       sem_wait(&state->thd_par_sem);
+       setRegulationSpeed(state);
+       setCommutationOn(state);
        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
+ * 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.
@@ -159,6 +193,10 @@ void poll_cmd(struct rpi_state* state){
                         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);
                 }
         }
 
@@ -167,13 +205,13 @@ void poll_cmd(struct rpi_state* state){
 /*
  * 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
  */
-float diff_s(float value){
+static float diff_s(float value){
        return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
 }
 
@@ -208,6 +246,7 @@ void printData(struct rpi_state* state){
        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));
@@ -226,4 +265,7 @@ 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");
+       if (s.doLogs) printf("logujeme\n");
+       if (s.error) printf("error pri maloc logs!! \n");
+
 }