X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/895cd8d53ba71ee374046c7abedeee92b94d8e2c..b98f70ee3eed3af0cbbc9d5869ac1e7626534ef4:/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 9625c1d..cc92a0b 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -23,6 +23,7 @@ static void printHelp(){
 	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.");
@@ -129,6 +130,18 @@ static void setSpeed(struct rpi_state* state, int 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
@@ -232,6 +245,8 @@ void poll_cmd(struct rpi_state* state){
                         setSpeed(state, val);
                 }else if (!strcmp(cmd,"log")){
                         setLogSEM(state);
+                }else if (!strcmp(cmd,"ao")){
+                	setAlphaOff(state,val);
                 }
         }
 
@@ -281,6 +296,7 @@ void printData(struct rpi_state* state){
 	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));