X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/8f3fb13ef9c8da9ac312b3b3b0ea4239306b986f..6841e483f0b370a6ea2b41c958945d3db9285c90:/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..2c5fdba 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -5,11 +5,41 @@
 #include "cmd_proc.h"
 #include "logs.h"
 
+/*
+ * UDP_CAPABLE definuje, zda je pouzeitelna moznost cteni
+ * referencnich informaci z jineho zarizeni po protokolu
+ * UDP. Jde zatim jen o testovaci rezim
+ */
+#define UDP_CAPABLE
+
+#ifdef UDP_CAPABLE
+#include "udp_cli.h"
+#include "misc.h"
+#include <pthread.h>
+#endif
+
+
 #define PRUM_PROUD 	2061
 #define PRUM_SOUC	6183
 
 static char doPrint = 1;
-static char error = 0;
+
+#ifdef UDP_CAPABLE
+static struct remote_pos_st remote_pos={
+		.stop=1
+};
+#endif
+
+/*
+ * zastavi cteni po UDP
+ */
+static inline void stop_udp_SEM(){
+	#ifdef UDP_CAPABLE
+	remote_pos.stop=1;
+	#endif
+}
+
+
 
 /*
  * \brief
@@ -26,6 +56,11 @@ static void printHelp(){
 	puts("log - Spusti nebo ulozi logovani.");
 	puts("ao:[hodnota] - Prenastavi alpha offset.");
 
+	#ifdef UDP_CAPABLE
+	puts("udp_pos:[ip] - Bude ridit pozici na hodnotu vzdaleneho zarizeni");
+	puts("udp_spd:[ip] - Bude ridit rychlost na hodnotu vzdaleneho zarizeni");
+	#endif
+
 	puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
 	puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
 	puts("exit - Bezpecne ukonci program.");
@@ -60,10 +95,10 @@ static void start(struct rpi_state* state){
  * Zastavi komutaci, vypne pwm
  */
 static void stop(struct rpi_state* state){
+	stop_udp_SEM();
 	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;
@@ -76,13 +111,13 @@ static void stop(struct rpi_state* state){
  * Nastavi pevnou sirku plneni
  */
 static void dutySet(struct rpi_state* state, int duty){
+	stop_udp_SEM();
 	sem_wait(&state->thd_par_sem);
 	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);
 }
 
@@ -91,10 +126,10 @@ static void dutySet(struct rpi_state* state, int duty){
  * Zapne rizeni na zvolenou polohu vztazenou k pozici pri startu
  */
 static void goAbsolute(struct rpi_state* state, int pos){
+	stop_udp_SEM();
 	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);
 }
@@ -123,10 +158,10 @@ static void exitApp(struct rpi_state* state){
 static void setSpeed(struct rpi_state* state, int speed){
 	if (speed>MAX_SPEED) speed=MAX_SPEED;
 	if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
+	stop_udp_SEM();
 	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 +178,6 @@ 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
@@ -184,6 +198,34 @@ static void setLogSEM(struct rpi_state* state){
 	}
 }
 
+#ifdef UDP_CAPABLE
+static void  startUdpPos(struct rpi_state* state, char *ip){
+	pthread_t thread_id=pthread_self();
+	if (!remote_pos.stop) return; /*dont be reentrant*/
+	setCommutationOn(state);
+	setRegulationPos(state);
+	remote_pos.stop=0;
+	remote_pos.ip=ip;
+	remote_pos.factor=-5;
+	remote_pos.semaphore=&state->thd_par_sem;
+	remote_pos.rem_pos=&state->desired_pos;
+	create_rt_task(&thread_id,48,start_reading_remote_position,&remote_pos);
+}
+
+/*FIXME thers no max speed limit check!!! hard debug mode!! be careful*/
+static void  startUdpSpd(struct rpi_state* state, char *ip){
+	pthread_t thread_id=pthread_self();
+	if (!remote_pos.stop) return; /*dont be reentrant*/
+	setCommutationOn(state);
+	setRegulationSpeed(state);
+	remote_pos.stop=0;
+	remote_pos.ip=ip;
+	remote_pos.factor=-1;
+	remote_pos.semaphore=&state->thd_par_sem;
+	remote_pos.rem_pos=&state->desired_spd;
+	create_rt_task(&thread_id,48,start_reading_remote_position,&remote_pos);
+}
+#endif
 /**
  * \brief
  * Commands detection.
@@ -192,12 +234,14 @@ void poll_cmd(struct rpi_state* state){
 	unsigned int tmp;
         char buff[50];
         char cmd[30];
+        char cmd2[30];
         int val;
 
         while(1){
                 scanf("%49s",buff);
                 delCol(buff);
                 sscanf(buff,"%s %d",cmd,&val);
+                sscanf(buff,"%s %s",cmd,cmd2);
 
 
                 if (!strcmp(cmd,"start")){
@@ -223,6 +267,15 @@ void poll_cmd(struct rpi_state* state){
                 }else if (!strcmp(cmd,"ao")){
                 	setAlphaOff(state,val);
                 }
+		#ifdef UDP_CAPABLE
+                else if (!strcmp(cmd,"udp_pos")){
+                	startUdpPos(state,cmd2);
+                }else if (!strcmp(cmd,"udp_spd")){
+                	startUdpSpd(state,cmd2);
+
+                }
+		#endif
+
         }
 
 }
@@ -291,6 +344,6 @@ 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");
 
 }