X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/25e4be86876f738bf5ceae5764a1d0fe42272aef..34faa4fbd72cb8f7f3a942787cfc7db4bfd05353:/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 936ec7b..da882c0 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -3,6 +3,8 @@
 
 #include "cmd_proc.h"
 
+#define PRUM_PROUD 	2061
+#define PRUM_SOUC	6183
 
 /**
  * \brief
@@ -72,6 +74,18 @@ void poll_cmd(struct rpi_state* state){
 	}
 	return ;
 }
+/*
+ * pocita procentualni odchylku od prumerneho proudu
+ */
+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){
+	return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
+}
 
 /*
  * tiskne potrebna data
@@ -104,13 +118,11 @@ void printData(struct rpi_state* state){
 	printf("raw_pozice=%u\n",data_p.pozice_raw);
 	printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
 	printf("index position=%u\n",data_p.index_position);
+	printf("distance to index=%u\n",s.index_dist);
 	printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
 	printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
 	printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
-	printf("PWM1=%u(L.s.)\n",s.pwm1);
-	printf("PWM2=%u(L.s.)\n",s.pwm2);
-	printf("PWM3=%u(L.s.)\n",s.pwm3);
-	printf("distance to index=%u\n",s.index_dist);
+	printf("  PWM1=%u   PWM2=%u   PWM3=%u\n",s.pwm1,s.pwm2,s.pwm3);
 	printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
 	printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
 	printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));