X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/8f3fb13ef9c8da9ac312b3b3b0ea4239306b986f..32aaacc65b9f894bea0897421277f71375a7f825:/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 8f49e91..66e9be8 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -9,7 +9,7 @@
 #define PRUM_SOUC	6183
 
 static char doPrint = 1;
-static char error = 0;
+
 
 /*
  * \brief
@@ -61,9 +61,8 @@ 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;
+	setCommutationOff(state);
+	setRegulationOff(state);
 	state->duty=0;
 	state->pwm1=0;
 	state->pwm2=0;
@@ -80,9 +79,8 @@ static void dutySet(struct rpi_state* state, int duty){
 	if (duty>MAX_DUTY) duty=MAX_DUTY;
 	if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
 	state->duty=duty;
-	state->pos_reg_ena=0;
-	state->spd_reg_ena=0;
-	state->commutate=1;
+	setRegulationOff(state);
+	setCommutationOn(state);
 	sem_post(&state->thd_par_sem);
 }
 
@@ -92,9 +90,8 @@ 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;
+	setRegulationPos(state);
+	setCommutationOn(state);
 	state->desired_pos=pos;
 	sem_post(&state->thd_par_sem);
 }
@@ -124,9 +121,8 @@ 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;
+	setRegulationSpeed(state);
+	setCommutationOn(state);
 	state->desired_spd=speed;
 	sem_post(&state->thd_par_sem);
 }
@@ -143,27 +139,6 @@ static void setAlphaOff(struct rpi_state* state, int 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
@@ -291,6 +266,6 @@ void printData(struct rpi_state* state){
 	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");
+	if (s.error) printf("error pri maloc logs!! \n");
 
 }