X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/59b72ac21a7189e402f90a288889174af4fe3015..c4cdcbe5bfaecb9024e4fe41be29a4541653b8ef:/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 ec33728..7d707da 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -67,52 +67,70 @@ void sighnd_fnc(){
 }
 
 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
+	data->pozice_raw=data->pozice;
 	data->pozice-=offset->pozice;
 	return;
 }
 /*
  * pocita procentualni odchylku od prumerneho proudu
  */
-float diff_p(int16_t value){
+float diff_p(float value){
 	return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
 }
 /*
  * pocita procentualni odchylku od prumerneho souctu proudu
  */
-float diff_s(int16_t value){
+float diff_s(float value){
 	return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
 }
 /*
  * tiskne potrebna data
  */
 void printData(struct rpi_in data){
+	float cur0, cur1, cur2;
+	int i;
+	if (data.adc_m_count){
+		cur0=data.ch0/data.adc_m_count;
+		cur1=data.ch1/data.adc_m_count;
+		cur2=data.ch2/data.adc_m_count;
+	}
+	for (i = 0; i < 16; i++) {
+			if (!(i % 6))
+				puts("");
+			printf("%.2X ", data.debug_rx[i]);
+	}
+	puts("");
 	printf("\npozice=%d\n",(int32_t)data.pozice);
+	printf("raw_pozice=%d\n",(int32_t)data.pozice_raw);
+	printf("raw_pozice last11=%u\n",(data.pozice_raw&0x7FF));
+	printf("index position=%d\n",(int16_t)data.index_position);
 	printf("hal1=%d, hal2=%d, hal3=%d\n",data.hal1,data.hal2,data.hal3);
-	printf("en1=%d, en2=%d, en3=%d (Predchozi hodnoty)\n",data.en1,data.en2,data.en3);
-	printf("shdn1=%d, shdn2=%d, shdn3=%d (P.h.)\n",data.shdn1,data.shdn2,data.shdn3);
-	printf("PWM1(10d5)b54=%d %d %d %d %d %d=b49(P.h.)\n",data.b54,data.b53,data.b52,data.b51,data.b50,data.b49);
-	printf("PWM2(10d4)b48=%d %d %d %d %d %d %d=b42(P.h.)\n",data.b48,data.b47,data.b46,data.b45,data.b44,data.b43,data.b42);
-	printf("PWM3(10d5)b41=%d %d %d %d %d %d=b36(P.h.)\n",data.b41,data.b40,data.b39,data.b38,data.b37,data.b36);
-	printf("(pwm1)proud1 (ch1)=%d (%2.2f%%) %x\n",data.ch1,diff_p(data.ch1),(uint16_t)data.ch1);
-	printf("(pwm2)proud2 (ch2)=%d (%2.2f%%) %x\n",data.ch2,diff_p(data.ch2),(uint16_t)data.ch2);
-	printf("(pwm3)proud3 (ch0)=%d (%2.2f%%) %x\n",data.ch0,diff_p(data.ch0),(uint16_t)data.ch0);
-	printf("soucet proudu=%d (%2.2f%%)\n",data.ch0+data.ch1+data.ch2,diff_s(data.ch0+data.ch1+data.ch2));
+	printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&test),!!(0x20&test),!!(0x10&test));
+	printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&test),!!(0x04&test),!!(0x02&test));
+	printf("PWM1=%u(L.s.)\n",pwm1);
+	printf("PWM2=%u(L.s.)\n",pwm2);
+	printf("PWM3=%u(L.s.)\n",pwm3);
+	printf("Pocet namerenych proudu=%u\n",data.adc_m_count);
+	printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data.ch1,cur1,diff_p(cur1));
+	printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch2,cur2,diff_p(cur2));
+	printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch0,cur0,diff_p(cur0));
+	printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
 }
 void prepare_tx(uint8_t * tx){
 
 	/*Data format:
-	 * tx[0] - bity 95 downto 88 - bits that are sent first
-	 * tx[1] - bity 87 downto 80
-	 * tx[2] - bity 79 downto 72
-	 * tx[3] - bity 71 downto 64
-	 * tx[4] - bity 63 downto 56
-	 * tx[5] - bity 55 downto 48
-	 * tx[6] - bity 47 downto 40
-	 * tx[7] - bity 39 downto 32
-	 * tx[8] - bity 31 downto 24
-	 * tx[9] - bity 23 downto 16
-	 * tx[10] - bity 15 downto 8
-	 * tx[11] - bity 7 downto 0
+	 * tx[4] - bity 95 downto 88 - bits that are sent first
+	 * tx[5] - bity 87 downto 80
+	 * tx[6] - bity 79 downto 72
+	 * tx[7] - bity 71 downto 64
+	 * tx[8] - bity 63 downto 56
+	 * tx[9] - bity 55 downto 48
+	 * tx[10] - bity 47 downto 40
+	 * tx[11] - bity 39 downto 32
+	 * tx[12] - bity 31 downto 24
+	 * tx[13] - bity 23 downto 16
+	 * tx[14] - bity 15 downto 8
+	 * tx[15] - bity 7 downto 0
 	 *
 	 * bit 95 - ADC reset
 	 * bit 94 - enable PWM1
@@ -124,10 +142,10 @@ void prepare_tx(uint8_t * tx){
 	 * 	.
 	 * 	.
 	 * 	.
-	 * bits 34 .. 24 - match PWM1
-	 * bits 23 .. 13 - match PWM2
+	 * bits 66 .. 56 - match PWM1
+	 * bits 55 .. 45 - match PWM2
 	 * bit 11,12 - Unused
-	 * bits 10 .. 0  - match PWM3
+	 * bits 42 .. 32  - match PWM3
 	 */