X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/f15910a53d32ae3ee1611055150798e47336aa4f..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 953567e..66e9be8 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -3,12 +3,13 @@
 #include <string.h>
 
 #include "cmd_proc.h"
+#include "logs.h"
 
 #define PRUM_PROUD 	2061
 #define PRUM_SOUC	6183
 
 static char doPrint = 1;
-static char error = 0;
+
 
 /*
  * \brief
@@ -23,6 +24,7 @@ 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.");
@@ -59,7 +61,9 @@ static void start(struct rpi_state* state){
  */
 static void stop(struct rpi_state* state){
 	sem_wait(&state->thd_par_sem);
-	state->commutate=0;
+	setCommutationOff(state);
+	setRegulationOff(state);
+	state->duty=0;
 	state->pwm1=0;
 	state->pwm2=0;
 	state->pwm3=0;
@@ -75,9 +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);
 }
 
@@ -87,9 +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);
 }
@@ -119,58 +121,22 @@ 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);
 }
 
 /*
  * \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
- * Save logs
+ * Set alpha offset.
  */
-static void saveLogs(struct rpi_state* state){
-	FILE *f;
-	int r,s;
-
-	f = fopen("logs.txt", "w");
-	if (f == NULL){
-		printf("Error opening file!\n");
-		return;
-	}
-
-	for (r=0;r<LOG_ROWS;r++){
-		for(s=0;s<state->log_col-1;s++){	/*posledni sloupec je vevyplneny*/
-			if (s==state->log_col-2){
-				fprintf(f,"%d ",state->logs[r][s]);
-	                }else{
-	                        fprintf(f,"%d, ",state->logs[r][s]);
-	                }
-	        }
-	        fprintf(f,"\r");
-	}
-	fclose(f);
-	freeLogs();
+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);
 }
 
 /**
@@ -229,6 +195,8 @@ 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);
                 }
         }
 
@@ -278,6 +246,7 @@ 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));
@@ -297,6 +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");
 
 }