X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/9650ac29cdffe74d39e64da32a34384dcd9db72f..8785f652c92188d72cc75512567ceae80b3e611d:/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 35ed9c2..69c17b8 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -56,7 +56,6 @@ static void start(struct rpi_state* state){
  */
 static void stop(struct rpi_state* state){
 	sem_wait(&state->thd_par_sem);
-	state->test=0;		/*konfiguracni byte*/
 	state->commutate=0;
 	state->pwm1=0;
 	state->pwm2=0;
@@ -168,14 +167,12 @@ void printData(struct rpi_state* state){
 	struct rpi_state s;	/*state*/
 	float cur0, cur1, cur2;
 	int i;
-	signed long int speed;
 	/* copy the data */
 	sem_wait(&state->thd_par_sem);
 	data_p = *state->spi_dat;
 	s=*state;
 	sem_post(&state->thd_par_sem);
 
-	speed=data_p.pozice-s.old_pos;
 	if (data_p.adc_m_count){
 		cur0=data_p.ch0/data_p.adc_m_count;
 		cur1=data_p.ch1/data_p.adc_m_count;
@@ -187,8 +184,8 @@ void printData(struct rpi_state* state){
 			printf("%.2X ", data_p.debug_rx[i]);
 	}
 	puts("");
-	printf("\npozice=%u\n",data_p.pozice);
-	printf("rychlost=%ld\n",speed);
+	printf("\npozice=%ld\n",data_p.pozice);
+	printf("rychlost=%d\n",s.speed);
 	printf("chtena pozice=%d\n",s.desired_pos);
 	printf("transfer count=%u\n",s.tf_count);
 	printf("raw_pozice=%u\n",data_p.pozice_raw);