--- /dev/null
+#include <stdlib.h>
+#include <stdio.h>
+
+#include "cmd_proc.h"
+
+
+/**
+ * \brief
+ * Commands detection.
+ */
+void poll_cmd(struct rpi_state* state){
+ unsigned int tmp;
+ /*
+ * Note:
+ * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
+ * k preukladani hodnot na promenne test. Dost divne.
+ */
+ while (1){
+ scanf("%u",&tmp);
+ printf("volba=%u\n",tmp);
+ switch (tmp){
+ case 1:
+ scanf("%u",&tmp);
+ sem_wait(&state->thd_par_sem);
+ state->pwm1=tmp&0xFFF;
+ sem_post(&state->thd_par_sem);
+ break;
+ case 2:
+ scanf("%u",&tmp);
+ sem_wait(&state->thd_par_sem);
+ state->pwm2=tmp&0xFFF;
+ sem_post(&state->thd_par_sem);
+ break;
+ case 3:
+ scanf("%u",&tmp);
+ sem_wait(&state->thd_par_sem);
+ state->pwm3=tmp&0xFFF;
+ sem_post(&state->thd_par_sem);
+ break;
+ case 4:
+ scanf("%u",&tmp);
+ sem_wait(&state->thd_par_sem);
+ state->test=tmp&0xFF;
+ sem_post(&state->thd_par_sem);
+ break;
+ case 5:
+ sem_wait(&state->thd_par_sem);
+ state->commutate=!state->commutate;
+ /* switch off pwms at the end of commutation */
+ state->pwm1&=state->commutate*0xFFFF;
+ state->pwm2&=state->commutate*0xFFFF;
+ state->pwm3&=state->commutate*0xFFFF;
+ sem_post(&state->thd_par_sem);
+ break;
+ case 6:
+ scanf("%d",&tmp);
+ sem_wait(&state->thd_par_sem);
+ state->duty=tmp;
+ sem_post(&state->thd_par_sem);
+ break;
+ case 7:
+ scanf("%d",&tmp);
+ sem_wait(&state->thd_par_sem);
+ state->desired_pos=tmp;
+ sem_post(&state->thd_par_sem);
+ break;
+
+ default:
+ break;
+ }
+
+ }
+ return ;
+}
#include "rp_spi.h" /*spi*/
#include "misc.h" /*structure for priorities*/
#include "pxmc_sin_fixed.h" /*to test sin commutation */
-
-
+#include "pmsm_state.h"
+#include "cmd_proc.h"
#define PRUM_PROUD 2061
#define PRUM_SOUC 6183
#define NSEC_PER_SEC (1000000000) /* The number of nsecs per sec. */
-
struct rpi_in data;
-struct rpi_state{
- uint8_t test;
- uint16_t pwm1, pwm2, pwm3;
- uint16_t t_pwm1, t_pwm2, t_pwm3;
- char commutate;
- int duty; /* duty cycle of pwm */
- uint16_t index_dist; /* distance to index position */
- unsigned char index_ok;
- uint32_t tf_count; /*number of transfer*/
- int desired_pos; /* desired position */
-}rps;
/**
spi_disable();
clk_disable();
/*muzeme zavrit semafor*/
- sem_destroy(&thd_par_sem);
+ sem_destroy(&rps.thd_par_sem);
printf("\nprogram bezpecne ukoncen\n");
}
float cur0, cur1, cur2;
int i;
/* copy the data */
- sem_wait(&thd_par_sem);
+ sem_wait(&rps.thd_par_sem);
data_p = data;
s=rps;
- sem_post(&thd_par_sem);
+ sem_post(&rps.thd_par_sem);
if (data_p.adc_m_count){
cur0=data_p.ch0/data_p.adc_m_count;
while(1){
/* wait until next shot */
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
- sem_wait(&thd_par_sem); /*---take semaphore---*/
+ sem_wait(&rps.thd_par_sem); /*---take semaphore---*/
prepare_tx(tx); /*save the data to send*/
data = spi_read(tx); /*exchange data*/
/*subtract initiate postion */
}else if(!rps.index_ok && rps.commutate){
simple_hall_commutator(rps.duty);
}
- sem_post(&thd_par_sem); /*--post semaphore---*/
+ sem_post(&rps.thd_par_sem); /*--post semaphore---*/
/* calculate next shot */
t.tv_nsec += interval;
}
-/**
- * \brief
- * Commands detection.
- */
-void poll_cmd(){
- unsigned int tmp;
- /*
- * Note:
- * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
- * k preukladani hodnot na promenne test. Dost divne.
- */
- while (1){
- scanf("%u",&tmp);
- printf("volba=%u\n",tmp);
- switch (tmp){
- case 1:
- scanf("%u",&tmp);
- sem_wait(&thd_par_sem);
- rps.pwm1=tmp&0xFFF;
- sem_post(&thd_par_sem);
- break;
- case 2:
- scanf("%u",&tmp);
- sem_wait(&thd_par_sem);
- rps.pwm2=tmp&0xFFF;
- sem_post(&thd_par_sem);
- break;
- case 3:
- scanf("%u",&tmp);
- sem_wait(&thd_par_sem);
- rps.pwm3=tmp&0xFFF;
- sem_post(&thd_par_sem);
- break;
- case 4:
- scanf("%u",&tmp);
- sem_wait(&thd_par_sem);
- rps.test=tmp&0xFF;
- sem_post(&thd_par_sem);
- break;
- case 5:
- sem_wait(&thd_par_sem);
- rps.commutate=!rps.commutate;
- /* switch off pwms at the end of commutation */
- rps.pwm1&=rps.commutate*0xFFFF;
- rps.pwm2&=rps.commutate*0xFFFF;
- rps.pwm3&=rps.commutate*0xFFFF;
- sem_post(&thd_par_sem);
- break;
- case 6:
- scanf("%d",&tmp);
- sem_wait(&thd_par_sem);
- rps.duty=tmp;
- sem_post(&thd_par_sem);
- break;
- case 7:
- scanf("%d",&tmp);
- sem_wait(&thd_par_sem);
- rps.desired_pos=tmp;
- sem_post(&thd_par_sem);
- break;
-
- default:
- break;
- }
- }
- return ;
-}
/**
* \brief Main function.
*/
spi_init(); /* iniicializace spi*/
/*semafor pro detekci zpracovani parametru vlaken*/
- sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
+ sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
setup_environment();
base_thread_id=pthread_self();
create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
/*wait for commands*/
- poll_cmd();
+ poll_cmd(&rps);
return 0;
}