Now it is possible to log state data.

[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 82d53908b32ae6e9aa9e10070cf9f6439170f9fa..a0b059274443aac36e320cd9392c3c1230664e1c 100644 (file)
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -21,6 +21,7 @@ static void printHelp(){
        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.");
@@ -114,9 +115,9 @@ static void exitApp(struct rpi_state* state){
  * 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;
@@ -124,6 +125,68 @@ static void setSpeed(struct rpi_state* state, int 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
+ */
+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();
+}
+
+/**
+ * \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);
+               state->doLogs=1;
+               sem_post(&state->thd_par_sem);
+       }
+}
+
 /**
  * \brief
  * Commands detection.
@@ -158,6 +221,8 @@ void poll_cmd(struct rpi_state* state){
                         exitApp(state);
                 }else if (!strcmp(cmd,"spd")){
                         setSpeed(state, val);
+                }else if (!strcmp(cmd,"log")){
+                        setLogSEM(state);
                 }
         }
 
@@ -166,13 +231,13 @@ void poll_cmd(struct rpi_state* 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;
 }