#define PRUM_SOUC 6183
static char doPrint = 1;
+static char error = 0;
/*
* \brief
puts("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");
puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
puts("spd:[hodnota] - Zapne rizeni na danou rychlost.");
+ puts("log - Spusti nebo ulozi logovani.");
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;
+ state->pos_reg_ena=0;
+ state->spd_reg_ena=0;
+ state->duty=0;
state->pwm1=0;
state->pwm2=0;
state->pwm3=0;
* Set speed.
*/
static void setSpeed(struct rpi_state* state, int speed){
- sem_wait(&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;
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));
+ if (state->logs[r]==NULL){
+ error=1;
+ state->log_col_count=-1;
+ return;
+ }
+ }
+ state->doLogs=1;
+}
+
+/*
+ * \brief
+ * Save logs
+ */
+static void saveLogs(struct rpi_state* state){
+ FILE *f;
+ int r,s;
+
+ f = fopen("logs.log", "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();
+}
+
+/**
+ * \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);
+ }
+}
+
/**
* \brief
* Commands detection.
exitApp(state);
}else if (!strcmp(cmd,"spd")){
setSpeed(state, val);
+ }else if (!strcmp(cmd,"log")){
+ setLogSEM(state);
}
}
/*
* 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;
}
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 (error) printf("error pri maloc logs!! \n");
+
}