X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/8945272802e6d9bdd317bced4aba96d7ca442e9b..c4cdcbe5bfaecb9024e4fe41be29a4541653b8ef:/pmsm-control/test_sw/main_pmsm.c?ds=sidebyside

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 6219d69..7d707da 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -67,6 +67,7 @@ void sighnd_fnc(){
 }
 
 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
+	data->pozice_raw=data->pozice;
 	data->pozice-=offset->pozice;
 	return;
 }
@@ -100,6 +101,9 @@ void printData(struct rpi_in data){
 	}
 	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 (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));