#include <string.h>
#include "cmd_proc.h"
+#include "logs.h"
#define PRUM_PROUD 2061
#define PRUM_SOUC 6183
static char doPrint = 1;
+
/*
* \brief
* Help
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.");
puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
*/
static void stop(struct rpi_state* state){
sem_wait(&state->thd_par_sem);
- state->commutate=0;
+ setCommutationOff(state);
+ setRegulationOff(state);
+ state->duty=0;
state->pwm1=0;
state->pwm2=0;
state->pwm3=0;
if (duty>MAX_DUTY) duty=MAX_DUTY;
if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
state->duty=duty;
- state->pos_reg_ena=0;
- state->spd_reg_ena=0;
- state->commutate=1;
+ setRegulationOff(state);
+ setCommutationOn(state);
sem_post(&state->thd_par_sem);
}
*/
static void goAbsolute(struct rpi_state* state, int pos){
sem_wait(&state->thd_par_sem);
- state->spd_reg_ena=0;
- state->pos_reg_ena=1;
- state->commutate=1;
+ setRegulationPos(state);
+ setCommutationOn(state);
state->desired_pos=pos;
sem_post(&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;
+ setRegulationSpeed(state);
+ setCommutationOn(state);
state->desired_spd=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));
- }
-}
-
-/*
- * \brief
- * Save logs
+ * Set alpha offset.
*/
-static void saveLogs(struct rpi_state* state){
- FILE *f;
- int r,s;
-
- f = fopen("logs.txt", "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();
+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);
}
/**
/* spustim zachytavani logu */
}else{
logInit(state);
- state->doLogs=1;
sem_post(&state->thd_par_sem);
}
}
setSpeed(state, val);
}else if (!strcmp(cmd,"log")){
setLogSEM(state);
+ }else if (!strcmp(cmd,"ao")){
+ setAlphaOff(state,val);
}
}
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");
+
}