Added reading of irc_index position.

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

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 45f98bc2e1536fb28a38be2a51e06a73f5f15653..7d707da09e85d4ccf97e81a67ad1b37ce2bf5672 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -67,6 +67,7 @@ void sighnd_fnc(){
 }
 
 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
+       data->pozice_raw=data->pozice;
        data->pozice-=offset->pozice;
        return;
 }
@@ -87,39 +88,49 @@ float diff_s(float value){
  */
 void printData(struct rpi_in data){
        float cur0, cur1, cur2;
+       int i;
        if (data.adc_m_count){
                cur0=data.ch0/data.adc_m_count;
                cur1=data.ch1/data.adc_m_count;
                cur2=data.ch2/data.adc_m_count;
        }
+       for (i = 0; i < 16; i++) {
+                       if (!(i % 6))
+                               puts("");
+                       printf("%.2X ", data.debug_rx[i]);
+       }
+       puts("");
        printf("\npozice=%d\n",(int32_t)data.pozice);
+       printf("raw_pozice=%d\n",(int32_t)data.pozice_raw);
+       printf("raw_pozice last11=%u\n",(data.pozice_raw&0x7FF));
+       printf("index position=%d\n",(int16_t)data.index_position);
        printf("hal1=%d, hal2=%d, hal3=%d\n",data.hal1,data.hal2,data.hal3);
-       //printf("en1=%d, en2=%d, en3=%d (Predchozi hodnoty)\n",data.en1,data.en2,data.en3);
-       //printf("shdn1=%d, shdn2=%d, shdn3=%d (P.h.)\n",data.shdn1,data.shdn2,data.shdn3);
-       //printf("PWM1(10d5)b54=%d %d %d %d %d %d=b49(P.h.)\n",data.b54,data.b53,data.b52,data.b51,data.b50,data.b49);
-       //printf("PWM2(10d4)b48=%d %d %d %d %d %d %d=b42(P.h.)\n",data.b48,data.b47,data.b46,data.b45,data.b44,data.b43,data.b42);
-       //printf("PWM3(10d5)b41=%d %d %d %d %d %d=b36(P.h.)\n",data.b41,data.b40,data.b39,data.b38,data.b37,data.b36);
+       printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&test),!!(0x20&test),!!(0x10&test));
+       printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&test),!!(0x04&test),!!(0x02&test));
+       printf("PWM1=%u(L.s.)\n",pwm1);
+       printf("PWM2=%u(L.s.)\n",pwm2);
+       printf("PWM3=%u(L.s.)\n",pwm3);
        printf("Pocet namerenych proudu=%u\n",data.adc_m_count);
-       printf("(pwm1)proud1 (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data.ch1,cur1,diff_p(cur1));
-       printf("(pwm2)proud2 (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch2,cur2,diff_p(cur2));
-       printf("(pwm3)proud3 (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch0,cur0,diff_p(cur0));
+       printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data.ch1,cur1,diff_p(cur1));
+       printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch2,cur2,diff_p(cur2));
+       printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch0,cur0,diff_p(cur0));
        printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
 }
 void prepare_tx(uint8_t * tx){
 
        /*Data format:
-        * tx[0] - bity 95 downto 88 - bits that are sent first
-        * tx[1] - bity 87 downto 80
-        * tx[2] - bity 79 downto 72
-        * tx[3] - bity 71 downto 64
-        * tx[4] - bity 63 downto 56
-        * tx[5] - bity 55 downto 48
-        * tx[6] - bity 47 downto 40
-        * tx[7] - bity 39 downto 32
-        * tx[8] - bity 31 downto 24
-        * tx[9] - bity 23 downto 16
-        * tx[10] - bity 15 downto 8
-        * tx[11] - bity 7 downto 0
+        * tx[4] - bity 95 downto 88 - bits that are sent first
+        * tx[5] - bity 87 downto 80
+        * tx[6] - bity 79 downto 72
+        * tx[7] - bity 71 downto 64
+        * tx[8] - bity 63 downto 56
+        * tx[9] - bity 55 downto 48
+        * tx[10] - bity 47 downto 40
+        * tx[11] - bity 39 downto 32
+        * tx[12] - bity 31 downto 24
+        * tx[13] - bity 23 downto 16
+        * tx[14] - bity 15 downto 8
+        * tx[15] - bity 7 downto 0
         *
         * bit 95 - ADC reset
         * bit 94 - enable PWM1
@@ -131,10 +142,10 @@ void prepare_tx(uint8_t * tx){
         *      .
         *      .
         *      .
-        * bits 34 .. 24 - match PWM1
-        * bits 23 .. 13 - match PWM2
+        * bits 66 .. 56 - match PWM1
+        * bits 55 .. 45 - match PWM2
         * bit 11,12 - Unused
-        * bits 10 .. 0  - match PWM3
+        * bits 42 .. 32  - match PWM3
         */