Changes made to logging process.

[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 65df8f1d4df4644ca96f724e8054d4287548215e..4d5803752c6ee398eea939cb584789b30177d74b 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -27,7 +27,7 @@
 
 
 #define PID_P          0.3
-#define PID_P_S                0.9     /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
+#define PID_P_S                0.8     /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
 #define PID_I_S                0.01
 
 #define PRIOR_KERN     50
@@ -126,9 +126,18 @@ void makeLog(){
        }
        rps.logs[0][rps.log_col]=(int)rps.tf_count;
        rps.logs[1][rps.log_col]=(int)rps.spi_dat->pozice;
+
        rps.logs[2][rps.log_col]=(int)rps.pwm1;
        rps.logs[3][rps.log_col]=(int)rps.pwm2;
        rps.logs[4][rps.log_col]=(int)rps.pwm3;
+       rps.logs[5][rps.log_col]=rps.duty;
+
+       rps.logs[6][rps.log_col]=rps.desired_spd;
+       rps.logs[7][rps.log_col]=rps.speed;
+
+       rps.logs[8][rps.log_col]=(int)(rps.spi_dat->ch1/rps.spi_dat->adc_m_count);
+       rps.logs[9][rps.log_col]=(int)(rps.spi_dat->ch2/rps.spi_dat->adc_m_count);
+       rps.logs[10][rps.log_col]=(int)(rps.spi_dat->ch0/rps.spi_dat->adc_m_count);
 
        rps.log_col++;
      /*