X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/567c062529d0595b8ea1c52e16ad2cc1ed7579b0..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 72260b5..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
@@ -72,3 +74,62 @@ 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
+ */
+void printData(struct rpi_state* state){
+	struct rpi_in data_p;
+	struct rpi_state s;	/*state*/
+	float cur0, cur1, cur2;
+	int i;
+	/* copy the data */
+	sem_wait(&state->thd_par_sem);
+	data_p = *state->spi_dat;
+	s=*state;
+	sem_post(&state->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("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   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));
+	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");
+}