X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/f747a68dd84aab260a8553829ae5da1ee4bf321a..b4d468f4be4d8e91bbd775b5b37f0ae431ae6648:/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 a9c6329..f4ce30b 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -139,71 +139,8 @@ void makeLog(){
      */
 }
 
-/*
- * \brief
- * Pripravi psi buffer
- */
-void prepare_tx(uint8_t * tx){
-
-	/*Data format:
-	 * tx[4] - bity 95 downto 88 - bits that are sent first
-	 * tx[5] - bity 87 downto 80
-	 * tx[6] - bity 79 downto 72
-	 * tx[7] - bity 71 downto 64
-	 * tx[8] - bity 63 downto 56
-	 * tx[9] - bity 55 downto 48
-	 * tx[10] - bity 47 downto 40
-	 * tx[11] - bity 39 downto 32
-	 * tx[12] - bity 31 downto 24
-	 * tx[13] - bity 23 downto 16
-	 * tx[14] - bity 15 downto 8
-	 * tx[15] - bity 7 downto 0
-	 *
-	 * bit 95 - ADC reset
-	 * bit 94 - enable PWM1
-	 * bit 93 - enable PWM2
-	 * bit 92 - enable PWM3
-	 * bit 91 - shutdown1
-	 * bit 90 - shutdown2
-	 * bit 89 - shutdown3
-	 * 	.
-	 * 	.
-	 * 	Unused
-	 * 	.
-	 * 	.
-	 * bits 47 .. 32 - match PWM1
-	 * bits 31 .. 16 - match PWM2
-	 * bits 15 .. 0  - match PWM3
-	 */
-
-
-	uint16_t tmp;
-
-	/* keep the 11-bit cap*/
-
-	if (rps.pwm1>2047) rps.pwm1=2047;
-	if (rps.pwm2>2047) rps.pwm2=2047;
-	if (rps.pwm3>2047) rps.pwm3=2047;
-
-	tx[0]=rps.test; /*bit 94 - enable PWM1*/
-
-	/*now we have to switch the bytes due to endianess */
-	/* ARMv6 & ARMv7 instructions are little endian */
-	/*pwm1*/
-	tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
-	tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
-
-	/*pwm2*/
-	tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
-	tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
-
-	/*pwm3*/
-	tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
-	tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 
 
-}
-
 
 /**
  * \brief Signal handler pro Ctrl+C
@@ -216,8 +153,7 @@ void appl_stop(){
 	rps.pwm1=0;
 	rps.pwm2=0;
 	rps.pwm3=0;
-	prepare_tx(tx);			/*save the data to send*/
-	data=spi_read(tx);
+	spi_read(&rps);
 
 	spi_disable();
 	clk_disable();
@@ -334,6 +270,8 @@ void compSpeed(){
 	rps.speed=(int32_t)spd;
 }
 
+
+
 /*
  * \brief
  * Feedback loop.
@@ -342,12 +280,16 @@ void compSpeed(){
 void * read_data(void* param){
 	int i;
 	struct rpi_in pocatek;
+	struct rpi_state poc={
+		.spi_dat=&pocatek,
+		.test=0,
+		.pwm1=0, .pwm1=0, .pwm3=0
+	};
 	struct timespec t;
 	int interval = 1000000; /* 1ms ~ 1kHz*/
-	uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
 	char first=1;
 	uint16_t last_index;				/*we have index up-to date*/
-	pocatek = spi_read(tx);
+	spi_read(&poc);		/*pocatecni informace*/
 	clock_gettime(CLOCK_MONOTONIC ,&t);
 	/* start after one second */
 	t.tv_sec++;
@@ -358,11 +300,10 @@ void * read_data(void* param){
 
 			/*old positions*/
 			rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
-			prepare_tx(tx);			/*save the data to send*/
-			data = spi_read(tx);		/*exchange data*/
+			spi_read(&rps);		/*exchange data*/
 			/*subtract initiate postion */
 			rps.tf_count++;
-			substractOffset(&data,&pocatek);
+			substractOffset(&data,poc.spi_dat);
 			compSpeed();			/*spocita rychlost*/
 
 			if (!rps.index_ok){