X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/567c062529d0595b8ea1c52e16ad2cc1ed7579b0..25e4be86876f738bf5ceae5764a1d0fe42272aef:/pmsm-control/test_sw/main_pmsm.c

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 20e6417..50e32e1 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -41,7 +41,19 @@
 
 
 struct rpi_in data;
-
+struct rpi_state rps={
+	.spi_dat=&data,
+	.thd_par_sem=NULL,
+	.test=0,
+	.pwm1=0,.pwm2=0, .pwm3=0,
+	.pwm1=0, .t_pwm2=0, .t_pwm3=0,
+	.commutate=0,
+	.duty=0,			/* duty cycle of pwm */
+	.index_dist=0,		/* distance to index position */
+	.index_ok=0,
+	.tf_count=0,		/*number of transfer*/
+	.desired_pos=0		/* desired position */
+};
 
 /**
  * \brief Initilizes GPCLK.
@@ -89,54 +101,7 @@ float diff_p(float value){
 float diff_s(float value){
 	return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
 }
-/*
- * tiskne potrebna data
- */
-void printData(){
-	struct rpi_in data_p;
-	struct rpi_state s;	/*state*/
-	float cur0, cur1, cur2;
-	int i;
-	/* copy the data */
-	sem_wait(&rps.thd_par_sem);
-	data_p = data;
-	s=rps;
-	sem_post(&rps.thd_par_sem);
-
-	if (data_p.adc_m_count){
-		cur0=data_p.ch0/data_p.adc_m_count;
-		cur1=data_p.ch1/data_p.adc_m_count;
-		cur2=data_p.ch2/data_p.adc_m_count;
-	}
-	for (i = 0; i < 16; i++) {
-			if (!(i % 6))
-				puts("");
-			printf("%.2X ", data_p.debug_rx[i]);
-	}
-	puts("");
-	printf("\npozice=%d\n",(int32_t)data_p.pozice);
-	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);
-	printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
-	printf("index position=%u\n",data_p.index_position);
-	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("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));
-	printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
-	printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
-	printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
-	printf("duty=%d\n",s.duty);
-	if (s.index_ok) printf("index ok\n");
-	if (s.commutate) printf("commutation in progress\n");
-}
+
 void prepare_tx(uint8_t * tx){
 
 	/*Data format:
@@ -202,7 +167,7 @@ void prepare_tx(uint8_t * tx){
  */
 void * pos_monitor(void* param){
 	while(1){
-		printData();
+		printData(&rps);
 		usleep(1000000); 	/*1 Hz*/
 	}
 	return (void*)0;