Added speed computation.

[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 35ed9c29f54bbf0bec7acd1438959416aa8fb990..69c17b8f81b21ac9fc1236392914f7275480a380 100644 (file)
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -56,7 +56,6 @@ static void start(struct rpi_state* state){
  */
 static void stop(struct rpi_state* state){
        sem_wait(&state->thd_par_sem);
-       state->test=0;          /*konfiguracni byte*/
        state->commutate=0;
        state->pwm1=0;
        state->pwm2=0;
@@ -168,14 +167,12 @@ void printData(struct rpi_state* state){
        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;
@@ -187,8 +184,8 @@ void printData(struct rpi_state* state){
                        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("transfer count=%u\n",s.tf_count);
        printf("raw_pozice=%u\n",data_p.pozice_raw);