X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/8f3fb13ef9c8da9ac312b3b3b0ea4239306b986f..5d8290ceb4f6810b3bf47d15bcbb0fc63ff4a837:/pmsm-control/test_sw/main_pmsm.c

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 25b0acc..ac3563d 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -60,9 +60,11 @@ struct rpi_state rps={
 	.log_col_count=0,	/* pocet radku zaznamu */
 	.log_col=0,
 	.doLogs=0,
-	.alpha_offset=960
+	.alpha_offset=960,
+	.main_commutator=zero_commutator	/*komutace vypnuta*/
 };
 
+
 /**
  * \brief Initilizes GPCLK.
  */
@@ -73,13 +75,6 @@ int clk_init()
 	gpioSetMode(4, FSEL_ALT0);
 	return 0;
 }
-/*
- * \brief Terminates GPCLK.
- */
-
-inline void clk_disable(){
-	termClock(0);
-}
 
 /**
  * \brief Signal handler pro Ctrl+C
@@ -95,7 +90,7 @@ void appl_stop(){
 	spi_read(&rps);
 
 	spi_disable();
-	clk_disable();
+	termClock(0);
 	freeLogs(&rps);
 	/*muzeme zavrit semafor*/
 	sem_destroy(&rps.thd_par_sem);
@@ -118,7 +113,7 @@ void * pos_monitor(void* param){
  * Feedback loop.
  * TODO: replace bunch of 'IFs' with Object-like pattern
  */
-void * read_data(void* param){
+void * control_loop(void* param){
 	int i;
 	struct rpi_in pocatek;
 	struct rpi_state poc={
@@ -141,10 +136,9 @@ void * read_data(void* param){
 
 			/*old positions*/
 			rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
-			spi_read(&rps);		/*exchange data*/
-			/*subtract initiate postion */
+			spi_read(&rps);				/*exchange data*/
 			rps.tf_count++;
-			substractOffset(&data,poc.spi_dat);
+			substractOffset(&data,poc.spi_dat);	/*subtract initiate postion */
 			compSpeed(&rps);			/*spocita rychlost*/
 
 			if (!rps.index_ok){
@@ -152,7 +146,7 @@ void * read_data(void* param){
 					last_index=data.index_position;
 					first=0;
 				}else if (last_index!=data.index_position){
-					rps.index_ok=1;
+					setIndexOK(&rps);
 					comIndDist(&rps);	/*vypocet vzdalenosti indexu*/
 				}
 			}else{ /*index je v poradku*/
@@ -166,15 +160,8 @@ void * read_data(void* param){
 				spd_pid(&rps);
 			}
 
-			/* sirka plneni prepoctena na jednotlive pwm */
-			if (rps.index_ok && rps.commutate){
-				/*simple_ind_dist_commutator(rps.duty);*/
-				/*sin_commutator(rps.duty);*/
-				inv_trans_comm(&rps);
-				inv_trans_comm_2(&rps);
-			}else if(!rps.index_ok && rps.commutate){
-				simple_hall_commutator(&rps);
-			}
+			/* sirku plneni prepocteme na jednotlive pwm */
+			rps.main_commutator(&rps);
 
 			/*zalogujeme hodnoty*/
 			if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
@@ -194,11 +181,9 @@ void * read_data(void* param){
 		}
 }
 
-
 /**
  * \brief Main function.
  */
-
 int main(){
 	pthread_t base_thread_id;
 	clk_init(); 		/* inicializace gpio hodin */
@@ -211,7 +196,7 @@ int main(){
 	base_thread_id=pthread_self();
 
 	/*main control loop*/
-	create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
+	create_rt_task(&base_thread_id,PRIOR_HIGH,control_loop,NULL);
 
 	/*monitor of current state*/
 	create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);