Added speed computation.

[fpga/rpi-motor-control.git] / pmsm-control / test_sw / rp_spi.c

diff --git a/pmsm-control/test_sw/rp_spi.c b/pmsm-control/test_sw/rp_spi.c
index bbe8225721ebac2519d82ca0e309319bd91a68d0..6a51a316c55120347f0b8498406f0196ab9601a0 100644 (file)
--- a/pmsm-control/test_sw/rp_spi.c
+++ b/pmsm-control/test_sw/rp_spi.c
@@ -11,6 +11,7 @@
 #include <sys/ioctl.h>
 #include <linux/types.h>
 #include <linux/spi/spidev.h>
+#include <string.h>
 
 #include "rp_spi.h" /*struct rpi_in */
 
@@ -82,6 +83,8 @@ struct rpi_in spi_read(uint8_t * tx)
                .bits_per_word = bits,
        };
 
+       memset(&in,0,sizeof(in));
+
        ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
        /*vypisovani prichozich dat */
 
@@ -114,7 +117,7 @@ struct rpi_in spi_read(uint8_t * tx)
         */
 
        /*uprava endianity pozice*/
-       uint8_p=(uint8_t*)&in.pozice;
+       uint8_p=(uint8_t*)&in.pozice_raw;
        /* x86 je Little-Endian */
        uint8_p[0]=rx[3]; /* LSB */
        uint8_p[1]=rx[2];