X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/1a8d767b097d1536b264d8bae3e9d5c16617f835..9650ac29cdffe74d39e64da32a34384dcd9db72f:/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 46ff070..35ed9c2 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -16,8 +16,8 @@ static char doPrint = 1;
 static void printHelp(){
 	doPrint=0;
 	puts("start - Pripravi rizeni, zapne enable bity pwm.");
-	puts("stop - Vypne pwm a rizeni. Enable bity na nulu.");
-	puts("0 - Vypne pwm a rizeni. Enable bity na nulu.");
+	puts("stop - Vypne komutaci, pwm a rizeni.");
+	puts("0 - Vypne komutaci, pwm a rizeni.");
 	puts("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");
 	puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
 	puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
@@ -58,7 +58,6 @@ static void stop(struct rpi_state* state){
 	sem_wait(&state->thd_par_sem);
 	state->test=0;		/*konfiguracni byte*/
 	state->commutate=0;
-	state->pos_reg_ena=0;
 	state->pwm1=0;
 	state->pwm2=0;
 	state->pwm3=0;
@@ -86,6 +85,7 @@ static void dutySet(struct rpi_state* state, int duty){
 static void goAbsolute(struct rpi_state* state, int pos){
 	sem_wait(&state->thd_par_sem);
 	state->pos_reg_ena=1;
+	state->commutate=1;
 	state->desired_pos=pos;
 	sem_post(&state->thd_par_sem);
 }
@@ -168,12 +168,14 @@ void printData(struct rpi_state* state){
 	struct rpi_state s;	/*state*/
 	float cur0, cur1, cur2;
 	int i;
+	signed long int speed;
 	/* copy the data */
 	sem_wait(&state->thd_par_sem);
 	data_p = *state->spi_dat;
 	s=*state;
 	sem_post(&state->thd_par_sem);
 
+	speed=data_p.pozice-s.old_pos;
 	if (data_p.adc_m_count){
 		cur0=data_p.ch0/data_p.adc_m_count;
 		cur1=data_p.ch1/data_p.adc_m_count;
@@ -185,7 +187,8 @@ void printData(struct rpi_state* state){
 			printf("%.2X ", data_p.debug_rx[i]);
 	}
 	puts("");
-	printf("\npozice=%d\n",(int32_t)data_p.pozice);
+	printf("\npozice=%u\n",data_p.pozice);
+	printf("rychlost=%ld\n",speed);
 	printf("chtena pozice=%d\n",s.desired_pos);
 	printf("transfer count=%u\n",s.tf_count);
 	printf("raw_pozice=%u\n",data_p.pozice_raw);