X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/8785f652c92188d72cc75512567ceae80b3e611d..6841e483f0b370a6ea2b41c958945d3db9285c90:/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 69c17b8..2c5fdba 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -3,12 +3,44 @@
 #include <string.h>
 
 #include "cmd_proc.h"
+#include "logs.h"
+
+/*
+ * UDP_CAPABLE definuje, zda je pouzeitelna moznost cteni
+ * referencnich informaci z jineho zarizeni po protokolu
+ * UDP. Jde zatim jen o testovaci rezim
+ */
+#define UDP_CAPABLE
+
+#ifdef UDP_CAPABLE
+#include "udp_cli.h"
+#include "misc.h"
+#include <pthread.h>
+#endif
+
 
 #define PRUM_PROUD 	2061
 #define PRUM_SOUC	6183
 
 static char doPrint = 1;
 
+#ifdef UDP_CAPABLE
+static struct remote_pos_st remote_pos={
+		.stop=1
+};
+#endif
+
+/*
+ * zastavi cteni po UDP
+ */
+static inline void stop_udp_SEM(){
+	#ifdef UDP_CAPABLE
+	remote_pos.stop=1;
+	#endif
+}
+
+
+
 /*
  * \brief
  * Help
@@ -19,9 +51,17 @@ static void printHelp(){
 	puts("stop - Vypne komutaci, pwm a rizeni.");
 	puts("0 - Vypne komutaci, pwm a rizeni.");
 	puts("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");
-	puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
 	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.");
+
+	#ifdef UDP_CAPABLE
+	puts("udp_pos:[ip] - Bude ridit pozici na hodnotu vzdaleneho zarizeni");
+	puts("udp_spd:[ip] - Bude ridit rychlost na hodnotu vzdaleneho zarizeni");
+	#endif
 
+	puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
 	puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
 	puts("exit - Bezpecne ukonci program.");
 }
@@ -55,8 +95,11 @@ static void start(struct rpi_state* state){
  * Zastavi komutaci, vypne pwm
  */
 static void stop(struct rpi_state* state){
+	stop_udp_SEM();
 	sem_wait(&state->thd_par_sem);
-	state->commutate=0;
+	setCommutationOff(state);
+	setRegulationOff(state);
+	state->duty=0;
 	state->pwm1=0;
 	state->pwm2=0;
 	state->pwm3=0;
@@ -68,12 +111,13 @@ static void stop(struct rpi_state* state){
  * Nastavi pevnou sirku plneni
  */
 static void dutySet(struct rpi_state* state, int duty){
+	stop_udp_SEM();
 	sem_wait(&state->thd_par_sem);
-	if (duty>512) duty=512;
-	if (duty<-512) duty=-512;/*paranoia*/
+	if (duty>MAX_DUTY) duty=MAX_DUTY;
+	if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
 	state->duty=duty;
-	state->commutate=1;
-	state->pos_reg_ena=0;
+	setRegulationOff(state);
+	setCommutationOn(state);
 	sem_post(&state->thd_par_sem);
 }
 
@@ -82,9 +126,10 @@ static void dutySet(struct rpi_state* state, int duty){
  * Zapne rizeni na zvolenou polohu vztazenou k pozici pri startu
  */
 static void goAbsolute(struct rpi_state* state, int pos){
+	stop_udp_SEM();
 	sem_wait(&state->thd_par_sem);
-	state->pos_reg_ena=1;
-	state->commutate=1;
+	setRegulationPos(state);
+	setCommutationOn(state);
 	state->desired_pos=pos;
 	sem_post(&state->thd_par_sem);
 }
@@ -106,7 +151,81 @@ 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*/
+	stop_udp_SEM();
+	sem_wait(&state->thd_par_sem);
+	setRegulationSpeed(state);
+	setCommutationOn(state);
+	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
+ * 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);
+	}
+}
+
+#ifdef UDP_CAPABLE
+static void  startUdpPos(struct rpi_state* state, char *ip){
+	pthread_t thread_id=pthread_self();
+	if (!remote_pos.stop) return; /*dont be reentrant*/
+	setCommutationOn(state);
+	setRegulationPos(state);
+	remote_pos.stop=0;
+	remote_pos.ip=ip;
+	remote_pos.factor=-5;
+	remote_pos.semaphore=&state->thd_par_sem;
+	remote_pos.rem_pos=&state->desired_pos;
+	create_rt_task(&thread_id,48,start_reading_remote_position,&remote_pos);
+}
+
+/*FIXME thers no max speed limit check!!! hard debug mode!! be careful*/
+static void  startUdpSpd(struct rpi_state* state, char *ip){
+	pthread_t thread_id=pthread_self();
+	if (!remote_pos.stop) return; /*dont be reentrant*/
+	setCommutationOn(state);
+	setRegulationSpeed(state);
+	remote_pos.stop=0;
+	remote_pos.ip=ip;
+	remote_pos.factor=-1;
+	remote_pos.semaphore=&state->thd_par_sem;
+	remote_pos.rem_pos=&state->desired_spd;
+	create_rt_task(&thread_id,48,start_reading_remote_position,&remote_pos);
+}
+#endif
 /**
  * \brief
  * Commands detection.
@@ -115,12 +234,14 @@ void poll_cmd(struct rpi_state* state){
 	unsigned int tmp;
         char buff[50];
         char cmd[30];
+        char cmd2[30];
         int val;
 
         while(1){
                 scanf("%49s",buff);
                 delCol(buff);
                 sscanf(buff,"%s %d",cmd,&val);
+                sscanf(buff,"%s %s",cmd,cmd2);
 
 
                 if (!strcmp(cmd,"start")){
@@ -139,7 +260,22 @@ 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);
+                }
+		#ifdef UDP_CAPABLE
+                else if (!strcmp(cmd,"udp_pos")){
+                	startUdpPos(state,cmd2);
+                }else if (!strcmp(cmd,"udp_spd")){
+                	startUdpSpd(state,cmd2);
+
                 }
+		#endif
+
         }
 
 }
@@ -147,13 +283,13 @@ 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;
 }
 
@@ -187,6 +323,8 @@ void printData(struct rpi_state* state){
 	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));
@@ -205,4 +343,7 @@ 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 (s.error) printf("error pri maloc logs!! \n");
+
 }