Changes made to logging process.

[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..9625c1d9368921e2523bc7f935944b2fe9b7fb57 100644 (file)
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -8,6 +8,7 @@
 #define PRUM_SOUC      6183
 
 static char doPrint = 1;
+static char error = 0;
 
 /*
  * \brief
@@ -21,6 +22,7 @@ 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("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
        puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
@@ -58,6 +60,9 @@ static void start(struct rpi_state* state){
 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;
@@ -76,7 +81,6 @@ static void dutySet(struct rpi_state* state, int duty){
        state->pos_reg_ena=0;
        state->spd_reg_ena=0;
        state->commutate=1;
-       printf("duty=");
        sem_post(&state->thd_par_sem);
 }
 
@@ -115,9 +119,9 @@ 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*/
+       sem_wait(&state->thd_par_sem);
        state->pos_reg_ena=0;
        state->spd_reg_ena=1;
        state->commutate=1;
@@ -125,6 +129,73 @@ static void setSpeed(struct rpi_state* state, int speed){
        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
+ * Save logs
+ */
+static void saveLogs(struct rpi_state* state){
+       FILE *f;
+       int r,s;
+
+       f = fopen("logs.log", "w");
+       if (f == NULL){
+               printf("Error opening file!\n");
+               return;
+       }
+
+       for (r=0;r<LOG_ROWS;r++){
+               for(s=0;s<state->log_col-1;s++){        /*posledni sloupec je vevyplneny*/
+                       if (s==state->log_col-2){
+                               fprintf(f,"%d ",state->logs[r][s]);
+                       }else{
+                               fprintf(f,"%d, ",state->logs[r][s]);
+                       }
+               }
+               fprintf(f,"\r");
+       }
+       fclose(f);
+       freeLogs();
+}
+
+/**
+ * \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 +230,8 @@ void poll_cmd(struct rpi_state* state){
                         exitApp(state);
                 }else if (!strcmp(cmd,"spd")){
                         setSpeed(state, val);
+                }else if (!strcmp(cmd,"log")){
+                        setLogSEM(state);
                 }
         }
 
@@ -167,13 +240,13 @@ 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;
 }
 
@@ -226,4 +299,7 @@ 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 (error) printf("error pri maloc logs!! \n");
+
 }