X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/4ce508fb799a94fd7c98e04e02421138fe51c621..1a8d767b097d1536b264d8bae3e9d5c16617f835:/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 d5e3020..46ff070 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -20,6 +20,8 @@ static void printHelp(){
 	puts("0 - Vypne pwm a rizeni. Enable bity na nulu.");
 	puts("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");
 	puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
+	puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
+
 	puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
 	puts("exit - Bezpecne ukonci program.");
 }
@@ -45,7 +47,6 @@ static void delCol(char * txt){
 static void start(struct rpi_state* state){
 	sem_wait(&state->thd_par_sem);
 	state->test=0x70;	/*konfiguracni byte*/
-	state->commutate=1;
 	sem_post(&state->thd_par_sem);
 }
 
@@ -57,6 +58,7 @@ 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;
@@ -68,7 +70,13 @@ static void stop(struct rpi_state* state){
  * Nastavi pevnou sirku plneni
  */
 static void dutySet(struct rpi_state* state, int duty){
-
+	sem_wait(&state->thd_par_sem);
+	if (duty>512) duty=512;
+	if (duty<-512) duty=-512;/*paranoia*/
+	state->duty=duty;
+	state->commutate=1;
+	state->pos_reg_ena=0;
+	sem_post(&state->thd_par_sem);
 }
 
 /*
@@ -77,6 +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->desired_pos=pos;
 	sem_post(&state->thd_par_sem);
 }