#include <string.h>
#include "cmd_proc.h"
+#include "logs.h"
+
+/*
+ * UDP_CAPABLE definuje, zda je pouzeitelna moznost cteni
+ * referencnich informaci z jineho zarizeni po protokolu
+ * UDP. Jde zatim jen o testovaci rezim
+ */
+#define UDP_CAPABLE
+
+#ifdef UDP_CAPABLE
+#include "udp_cli.h"
+#include "misc.h"
+#include <pthread.h>
+#endif
+
#define PRUM_PROUD 2061
#define PRUM_SOUC 6183
static char doPrint = 1;
+#ifdef UDP_CAPABLE
+static struct remote_pos_st remote_pos={
+ .stop=1
+};
+#endif
+
+/*
+ * zastavi cteni po UDP
+ */
+static inline void stop_udp_SEM(){
+ #ifdef UDP_CAPABLE
+ remote_pos.stop=1;
+ #endif
+}
+
+
+
/*
* \brief
* Help
puts("stop - Vypne komutaci, pwm a rizeni.");
puts("0 - Vypne komutaci, pwm a rizeni.");
puts("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");
- puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
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.");
+
+ #ifdef UDP_CAPABLE
+ puts("udp_pos:[ip] - Bude ridit pozici na hodnotu vzdaleneho zarizeni");
+ puts("udp_spd:[ip] - Bude ridit rychlost na hodnotu vzdaleneho zarizeni");
+ #endif
+ puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
puts("exit - Bezpecne ukonci program.");
}
* Zastavi komutaci, vypne pwm
*/
static void stop(struct rpi_state* state){
+ stop_udp_SEM();
sem_wait(&state->thd_par_sem);
- state->test=0; /*konfiguracni byte*/
- state->commutate=0;
+ setCommutationOff(state);
+ setRegulationOff(state);
+ state->duty=0;
state->pwm1=0;
state->pwm2=0;
state->pwm3=0;
* Nastavi pevnou sirku plneni
*/
static void dutySet(struct rpi_state* state, int duty){
+ stop_udp_SEM();
sem_wait(&state->thd_par_sem);
- if (duty>512) duty=512;
- if (duty<-512) duty=-512;/*paranoia*/
+ if (duty>MAX_DUTY) duty=MAX_DUTY;
+ if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
state->duty=duty;
- state->commutate=1;
- state->pos_reg_ena=0;
+ setRegulationOff(state);
+ setCommutationOn(state);
sem_post(&state->thd_par_sem);
}
* Zapne rizeni na zvolenou polohu vztazenou k pozici pri startu
*/
static void goAbsolute(struct rpi_state* state, int pos){
+ stop_udp_SEM();
sem_wait(&state->thd_par_sem);
- state->pos_reg_ena=1;
- state->commutate=1;
+ setRegulationPos(state);
+ setCommutationOn(state);
state->desired_pos=pos;
sem_post(&state->thd_par_sem);
}
/* 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*/
+ stop_udp_SEM();
+ 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);
+ }
+}
+
+#ifdef UDP_CAPABLE
+static void startUdpPos(struct rpi_state* state, char *ip){
+ pthread_t thread_id=pthread_self();
+ if (!remote_pos.stop) return; /*dont be reentrant*/
+ setCommutationOn(state);
+ setRegulationPos(state);
+ remote_pos.stop=0;
+ remote_pos.ip=ip;
+ remote_pos.factor=-5;
+ remote_pos.semaphore=&state->thd_par_sem;
+ remote_pos.rem_pos=&state->desired_pos;
+ create_rt_task(&thread_id,48,start_reading_remote_position,&remote_pos);
+}
+
+/*FIXME thers no max speed limit check!!! hard debug mode!! be careful*/
+static void startUdpSpd(struct rpi_state* state, char *ip){
+ pthread_t thread_id=pthread_self();
+ if (!remote_pos.stop) return; /*dont be reentrant*/
+ setCommutationOn(state);
+ setRegulationSpeed(state);
+ remote_pos.stop=0;
+ remote_pos.ip=ip;
+ remote_pos.factor=-1;
+ remote_pos.semaphore=&state->thd_par_sem;
+ remote_pos.rem_pos=&state->desired_spd;
+ create_rt_task(&thread_id,48,start_reading_remote_position,&remote_pos);
+}
+#endif
/**
* \brief
* Commands detection.
unsigned int tmp;
char buff[50];
char cmd[30];
+ char cmd2[30];
int val;
while(1){
scanf("%49s",buff);
delCol(buff);
sscanf(buff,"%s %d",cmd,&val);
+ sscanf(buff,"%s %s",cmd,cmd2);
if (!strcmp(cmd,"start")){
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);
+ }
+ #ifdef UDP_CAPABLE
+ else if (!strcmp(cmd,"udp_pos")){
+ startUdpPos(state,cmd2);
+ }else if (!strcmp(cmd,"udp_spd")){
+ startUdpSpd(state,cmd2);
+
}
+ #endif
+
}
}
/*
* 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;
}
struct rpi_state s; /*state*/
float cur0, cur1, cur2;
int i;
- signed long int speed;
/* copy the data */
sem_wait(&state->thd_par_sem);
data_p = *state->spi_dat;
s=*state;
sem_post(&state->thd_par_sem);
- speed=data_p.pozice-s.old_pos;
if (data_p.adc_m_count){
cur0=data_p.ch0/data_p.adc_m_count;
cur1=data_p.ch1/data_p.adc_m_count;
printf("%.2X ", data_p.debug_rx[i]);
}
puts("");
- printf("\npozice=%u\n",data_p.pozice);
- printf("rychlost=%ld\n",speed);
+ 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("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");
+
}
projects / fpga / rpi-motor-control.git / blobdiff