}
return ;
}
+
+/*
+ * tiskne potrebna data
+ */
+void printData(struct rpi_state* state){
+ struct rpi_in data_p;
+ struct rpi_state s; /*state*/
+ float cur0, cur1, cur2;
+ int i;
+ /* copy the data */
+ sem_wait(&state->thd_par_sem);
+ data_p = *state->spi_dat;
+ s=*state;
+ sem_post(&state->thd_par_sem);
+
+ if (data_p.adc_m_count){
+ cur0=data_p.ch0/data_p.adc_m_count;
+ cur1=data_p.ch1/data_p.adc_m_count;
+ cur2=data_p.ch2/data_p.adc_m_count;
+ }
+ for (i = 0; i < 16; i++) {
+ if (!(i % 6))
+ puts("");
+ printf("%.2X ", data_p.debug_rx[i]);
+ }
+ puts("");
+ printf("\npozice=%d\n",(int32_t)data_p.pozice);
+ 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);
+ printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
+ printf("index position=%u\n",data_p.index_position);
+ printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
+ printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
+ printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
+ printf("PWM1=%u(L.s.)\n",s.pwm1);
+ printf("PWM2=%u(L.s.)\n",s.pwm2);
+ printf("PWM3=%u(L.s.)\n",s.pwm3);
+ printf("distance to index=%u\n",s.index_dist);
+ printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
+ printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
+ printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
+ printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
+ printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
+ printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
+ printf("duty=%d\n",s.duty);
+ if (s.index_ok) printf("index ok\n");
+ if (s.commutate) printf("commutation in progress\n");
+}
struct rpi_in data;
-
+struct rpi_state rps={
+ .spi_dat=&data,
+ .thd_par_sem=NULL,
+ .test=0,
+ .pwm1=0,.pwm2=0, .pwm3=0,
+ .pwm1=0, .t_pwm2=0, .t_pwm3=0,
+ .commutate=0,
+ .duty=0, /* duty cycle of pwm */
+ .index_dist=0, /* distance to index position */
+ .index_ok=0,
+ .tf_count=0, /*number of transfer*/
+ .desired_pos=0 /* desired position */
+};
/**
* \brief Initilizes GPCLK.
float diff_s(float value){
return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
}
-/*
- * tiskne potrebna data
- */
-void printData(){
- struct rpi_in data_p;
- struct rpi_state s; /*state*/
- float cur0, cur1, cur2;
- int i;
- /* copy the data */
- sem_wait(&rps.thd_par_sem);
- data_p = data;
- s=rps;
- sem_post(&rps.thd_par_sem);
-
- if (data_p.adc_m_count){
- cur0=data_p.ch0/data_p.adc_m_count;
- cur1=data_p.ch1/data_p.adc_m_count;
- cur2=data_p.ch2/data_p.adc_m_count;
- }
- for (i = 0; i < 16; i++) {
- if (!(i % 6))
- puts("");
- printf("%.2X ", data_p.debug_rx[i]);
- }
- puts("");
- printf("\npozice=%d\n",(int32_t)data_p.pozice);
- 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);
- printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
- printf("index position=%u\n",data_p.index_position);
- printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
- printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
- printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
- printf("PWM1=%u(L.s.)\n",s.pwm1);
- printf("PWM2=%u(L.s.)\n",s.pwm2);
- printf("PWM3=%u(L.s.)\n",s.pwm3);
- printf("distance to index=%u\n",s.index_dist);
- printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
- printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
- printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
- printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
- printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
- printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
- printf("duty=%d\n",s.duty);
- if (s.index_ok) printf("index ok\n");
- if (s.commutate) printf("commutation in progress\n");
-}
+
void prepare_tx(uint8_t * tx){
/*Data format:
*/
void * pos_monitor(void* param){
while(1){
- printData();
+ printData(&rps);
usleep(1000000); /*1 Hz*/
}
return (void*)0;