State structure moved to separate file. Cmd poll function moved to separate file.

diff --git a/pmsm-control/test_sw/Makefile b/pmsm-control/test_sw/Makefile
index 10b8442173b0a5f121d318b4975b59dfea4b9c70..91f533a50aac5ec645f9f20e7ca1caaea76621b4 100644 (file)
--- a/pmsm-control/test_sw/Makefile
+++ b/pmsm-control/test_sw/Makefile
@@ -49,5 +49,5 @@ blikej: howto_gpio.o rpi_hw.o
 spi: rp_spi.o
        gcc -o spi rp_spi.c
 #pro rpi
 spi: rp_spi.o
        gcc -o spi rp_spi.c
 #pro rpi

-pmsm: main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o
-       gcc -o pmsm_controll main_pmsm.o rp_spi.o rpi_hw.o  misc.o pxmc_sin_fixtab.o -lpthread -lrt
+pmsm: main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o cmd_proc.o
+       gcc -o pmsm_controll main_pmsm.o rp_spi.o rpi_hw.o  misc.o pxmc_sin_fixtab.o cmd_proc.o -lpthread -lrt

diff --git a/pmsm-control/test_sw/cmd_proc.c b/pmsm-control/test_sw/cmd_proc.c
new file mode 100644 (file)
index 0000000..72260b5
--- /dev/null
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -0,0 +1,74 @@
+#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 ;
+}

diff --git a/pmsm-control/test_sw/cmd_proc.h b/pmsm-control/test_sw/cmd_proc.h
new file mode 100644 (file)
index 0000000..52d6627
--- /dev/null
+++ b/pmsm-control/test_sw/cmd_proc.h
@@ -0,0 +1,3 @@
+#include "pmsm_state.h"
+
+void poll_cmd(struct rpi_state* state);

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 8706dc923946186a1ec2f089e007598a9ac8b722..20e64177e20c07597f6f9d517d7f0d550c1d00da 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -21,8 +21,8 @@
 #include "rp_spi.h"    /*spi*/
 #include "misc.h"      /*structure for priorities*/
 #include "pxmc_sin_fixed.h"    /*to test sin commutation */
 #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 PRUM_PROUD     2061
 #define PRUM_SOUC      6183


@@ -40,19 +40,7 @@
 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
 
 
 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
 
 

-

 struct rpi_in data;
 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;

 
 
 /**
 
 
 /**


@@ -80,7 +68,7 @@ void appl_stop(){
        spi_disable();
        clk_disable();
        /*muzeme zavrit semafor*/
        spi_disable();
        clk_disable();
        /*muzeme zavrit semafor*/

-       sem_destroy(&thd_par_sem);
+       sem_destroy(&rps.thd_par_sem);

         printf("\nprogram bezpecne ukoncen\n");
 }
 
         printf("\nprogram bezpecne ukoncen\n");
 }
 


@@ -110,10 +98,10 @@ void printData(){
        float cur0, cur1, cur2;
        int i;
        /* copy the data */
        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;
        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;
 
        if (data_p.adc_m_count){
                cur0=data_p.ch0/data_p.adc_m_count;


@@ -481,7 +469,7 @@ void * read_data(void* param){
                while(1){
                        /* wait until next shot */
                        clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
                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 */
                        prepare_tx(tx);                 /*save the data to send*/
                        data = spi_read(tx);            /*exchange data*/
                        /*subtract initiate postion */


@@ -503,7 +491,7 @@ void * read_data(void* param){
                        }else if(!rps.index_ok && rps.commutate){
                                simple_hall_commutator(rps.duty);
                        }
                        }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;
 
                        /* calculate next shot */
                        t.tv_nsec += interval;


@@ -517,74 +505,7 @@ void * read_data(void* param){
 }
 
 
 }
 
 

-/**
- * \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.
  */
 /**
  * \brief Main function.
  */


@@ -595,7 +516,7 @@ int main(){
        spi_init();             /* iniicializace spi*/
 
        /*semafor pro detekci zpracovani parametru vlaken*/
        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();
        setup_environment();
 
        base_thread_id=pthread_self();


@@ -607,7 +528,7 @@ int main(){
        create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
 
        /*wait for commands*/
        create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
 
        /*wait for commands*/

-       poll_cmd();
+       poll_cmd(&rps);

 
        return 0;
 }
 
        return 0;
 }

diff --git a/pmsm-control/test_sw/misc.h b/pmsm-control/test_sw/misc.h
index 7a131c0be06d9e9e0f6f632cf1c0e615f858c657..b7783e41d50741193c04761bf8cf161e920c65b6 100644 (file)
--- a/pmsm-control/test_sw/misc.h
+++ b/pmsm-control/test_sw/misc.h
@@ -12,10 +12,6 @@
 #define NULL (void*)0
 #endif /*NULL*/
 
 #define NULL (void*)0
 #endif /*NULL*/
 

-#include <semaphore.h>
-
-sem_t thd_par_sem; ///< semafor pro detekci zpracovani parametru noveho vlakna
-

 /**
  * \brief
  * Setup initial environment.
 /**
  * \brief
  * Setup initial environment.

diff --git a/pmsm-control/test_sw/pmsm_state.h b/pmsm-control/test_sw/pmsm_state.h
new file mode 100644 (file)
index 0000000..5f63acf
--- /dev/null
+++ b/pmsm-control/test_sw/pmsm_state.h
@@ -0,0 +1,21 @@
+#ifndef PMSM_STATE
+#define PMSM_STATE
+
+#include <stdint.h>
+#include <semaphore.h>
+
+
+struct rpi_state{
+       sem_t thd_par_sem;
+       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;
+
+#endif /*PMSM_STATE*/