X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/4ce508fb799a94fd7c98e04e02421138fe51c621..8f3fb13ef9c8da9ac312b3b3b0ea4239306b986f:/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..8f49e91 100644 --- a/pmsm-control/test_sw/cmd_proc.c +++ b/pmsm-control/test_sw/cmd_proc.c @@ -3,11 +3,13 @@ #include #include "cmd_proc.h" +#include "logs.h" #define PRUM_PROUD 2061 #define PRUM_SOUC 6183 static char doPrint = 1; +static char error = 0; /* * \brief @@ -16,9 +18,14 @@ 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("duty:[hodnota] - Nastavi pevnou sirku plneni."); + puts("spd:[hodnota] - Zapne rizeni na danou rychlost."); + puts("log - Spusti nebo ulozi logovani."); + puts("ao:[hodnota] - Prenastavi alpha offset."); + puts("print - Zapne nebo vypne pravidelne vypisovani hodnot."); puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu."); puts("exit - Bezpecne ukonci program."); @@ -45,7 +52,6 @@ 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); } @@ -55,8 +61,10 @@ static void start(struct rpi_state* state){ */ 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->spd_reg_ena=0; + state->duty=0; state->pwm1=0; state->pwm2=0; state->pwm3=0; @@ -68,7 +76,14 @@ 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>MAX_DUTY) duty=MAX_DUTY; + if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/ + state->duty=duty; + state->pos_reg_ena=0; + state->spd_reg_ena=0; + state->commutate=1; + sem_post(&state->thd_par_sem); } /* @@ -77,6 +92,9 @@ 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->spd_reg_ena=0; + state->pos_reg_ena=1; + state->commutate=1; state->desired_pos=pos; sem_post(&state->thd_par_sem); } @@ -98,6 +116,73 @@ static void exitApp(struct rpi_state* state){ /* Note: atexit() is set before*/ exit(0); } +/* + * \brief + * Set speed. + */ +static void setSpeed(struct rpi_state* state, int speed){ + 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; + state->desired_spd=speed; + sem_post(&state->thd_par_sem); +} + +/* + * \brief + * Set alpha offset. + */ +static void setAlphaOff(struct rpi_state* state, int offset){ + if (offset<0) offset*=-1; + offset%=1000; + sem_wait(&state->thd_par_sem); + state->alpha_offset=(unsigned short)offset; + 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;rlogs[r]=malloc(state->log_col_count*sizeof(int)); + if (state->logs[r]==NULL){ + error=1; + state->log_col_count=-1; + return; + } + } + state->doLogs=1; +} + + + +/** + * \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); + sem_post(&state->thd_par_sem); + } +} /** * \brief @@ -131,6 +216,12 @@ void poll_cmd(struct rpi_state* state){ changePrint(); }else if (!strcmp(cmd,"exit")){ exitApp(state); + }else if (!strcmp(cmd,"spd")){ + setSpeed(state, val); + }else if (!strcmp(cmd,"log")){ + setLogSEM(state); + }else if (!strcmp(cmd,"ao")){ + setAlphaOff(state,val); } } @@ -139,13 +230,13 @@ 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; } @@ -176,8 +267,11 @@ 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=%ld\n",data_p.pozice); + printf("rychlost=%d\n",s.speed); printf("chtena pozice=%d\n",s.desired_pos); + printf("chtena rychlost=%d\n",s.desired_spd); + printf("alpha offset=%hu\n",s.alpha_offset); printf("transfer count=%u\n",s.tf_count); printf("raw_pozice=%u\n",data_p.pozice_raw); printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF)); @@ -196,4 +290,7 @@ void printData(struct rpi_state* state){ printf("duty=%d\n",s.duty); if (s.index_ok) printf("index ok\n"); if (s.commutate) printf("commutation in progress\n"); + if (s.doLogs) printf("logujeme\n"); + if (error) printf("error pri maloc logs!! \n"); + }