X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/8785f652c92188d72cc75512567ceae80b3e611d..8f3fb13ef9c8da9ac312b3b3b0ea4239306b986f:/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..8f49e91 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -3,11 +3,13 @@
 #include <string.h>
 
 #include "cmd_proc.h"
+#include "logs.h"
 
 #define PRUM_PROUD 	2061
 #define PRUM_SOUC	6183
 
 static char doPrint = 1;
+static char error = 0;
 
 /*
  * \brief
@@ -19,9 +21,12 @@ 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.");
 
+	puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
 	puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
 	puts("exit - Bezpecne ukonci program.");
 }
@@ -57,6 +62,9 @@ static void start(struct rpi_state* state){
 static void stop(struct rpi_state* state){
 	sem_wait(&state->thd_par_sem);
 	state->commutate=0;
+	state->pos_reg_ena=0;
+	state->spd_reg_ena=0;
+	state->duty=0;
 	state->pwm1=0;
 	state->pwm2=0;
 	state->pwm3=0;
@@ -69,11 +77,12 @@ static void stop(struct rpi_state* state){
  */
 static void dutySet(struct rpi_state* state, int duty){
 	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;
+	state->spd_reg_ena=0;
+	state->commutate=1;
 	sem_post(&state->thd_par_sem);
 }
 
@@ -83,6 +92,7 @@ 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;
@@ -106,6 +116,73 @@ 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*/
+	sem_wait(&state->thd_par_sem);
+	state->pos_reg_ena=0;
+	state->spd_reg_ena=1;
+	state->commutate=1;
+	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
+ * Initialize logs
+ */
+static void logInit(struct rpi_state* state){
+	int r;
+	state->log_col=0;
+	state->log_col_count=LOG_DEF_COL;
+	for (r=0;r<LOG_ROWS;r++){
+		state->logs[r]=malloc(state->log_col_count*sizeof(int));
+		if (state->logs[r]==NULL){
+			error=1;
+			state->log_col_count=-1;
+			return;
+		}
+	}
+	state->doLogs=1;
+}
+
+
+
+/**
+ * \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);
+	}
+}
 
 /**
  * \brief
@@ -139,6 +216,12 @@ 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);
                 }
         }
 
@@ -147,13 +230,13 @@ 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 +270,8 @@ 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 +290,7 @@ 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 (error) printf("error pri maloc logs!! \n");
+
 }