X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/4ce508fb799a94fd7c98e04e02421138fe51c621..e5be33166fa28644d8931ab754db8a7c99204364:/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..82d5390 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -16,9 +16,12 @@ 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("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
 	puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
 	puts("exit - Bezpecne ukonci program.");
@@ -45,7 +48,6 @@ 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);
 }
 
@@ -55,7 +57,6 @@ 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->pwm1=0;
 	state->pwm2=0;
@@ -68,7 +69,14 @@ 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 +85,9 @@ 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 +109,20 @@ 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){
+	sem_wait(&state->thd_par_sem);
+	if (speed>MAX_SPEED) speed=MAX_SPEED;
+	if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
+	state->pos_reg_ena=0;
+	state->spd_reg_ena=1;
+	state->commutate=1;
+	state->desired_spd=speed;
+	sem_post(&state->thd_par_sem);
+}
 
 /**
  * \brief
@@ -131,6 +156,8 @@ void poll_cmd(struct rpi_state* state){
                         changePrint();
                 }else if (!strcmp(cmd,"exit")){
                         exitApp(state);
+                }else if (!strcmp(cmd,"spd")){
+                        setSpeed(state, val);
                 }
         }
 
@@ -176,8 +203,10 @@ 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("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));