uint8_t test;
uint16_t pwm1, pwm2, pwm3;
+char commutate;
+uint16_t simple_hall_duty;
/**
printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch2,cur2,diff_p(cur2));
printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch0,cur0,diff_p(cur0));
printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
+ printf("duty=%u\n",simple_hall_duty);
+ if (commutate) printf("commutation in progress\n");
}
void prepare_tx(uint8_t * tx){
}
return (void*)0;
}
-
+/*
+ * \brief
+ * Test function to be placed in controll loop.
+ * Clockwise rotation with PWM with 64 out of 2048 duty cycle.
+ */
+inline void simple_hall_commutator(struct rpi_in data){
+ /* pwm3 */
+ if (data.hal2 && !data.hal3){
+ pwm1=0;
+ pwm2=0;
+ pwm3=simple_hall_duty;
+ /* pwm1 */
+ }else if (data.hal1 && !data.hal2){
+ pwm1=simple_hall_duty;
+ pwm2=0;
+ pwm3=0;
+ /* pwm2 */
+ }else if (!data.hal1 && data.hal3){
+ pwm1=0;
+ pwm2=simple_hall_duty;
+ pwm3=0;
+ }
+}
/**
* Funkce pravidelne vycita data z motoru
*/
prepare_tx(tx);
data = spi_read(tx);
substractOffset(&data,&pocatek);
+ if (commutate){
+ simple_hall_commutator(data);
+ }
usleep(1000); /*1kHz*/
}
}
*/
int main(){
- uint16_t tmp;
+ unsigned int tmp;
/*nastaveni priorit vlaken*/
struct thread_param tsp;
/*muzeme zavrit semafor*/
sem_destroy(&thd_par_sem);
-
+ /*
+ * Note:
+ * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
+ * k preukladani hodnot na promenne test. Dost divne.
+ */
while (1){
scanf("%u",&tmp);
- printf("volba=%x\n",tmp);
+ printf("volba=%u\n",tmp);
switch (tmp){
case 1:
- scanf("%u",&pwm1);
+ scanf("%u",&tmp);
+ pwm1=tmp&0xFFF;
break;
case 2:
- scanf("%u",&pwm2);
+ scanf("%u",&tmp);
+ pwm2=tmp&0xFFF;
break;
case 3:
- scanf("%u",&pwm3);
+ scanf("%u",&tmp);
+ pwm3=tmp&0xFFF;
break;
case 4:
- scanf("%u",&test);
+ scanf("%u",&tmp);
+ test=tmp&0xFF;
+ break;
+ case 5:
+ commutate=!commutate;
+ /* switch off pwms at the end of commutation */
+ pwm1&=commutate*0xFFFF;
+ pwm2&=commutate*0xFFFF;
+ pwm3&=commutate*0xFFFF;
+ break;
+ case 6:
+ scanf("%u",&tmp);
+ simple_hall_duty=tmp&0xFFF;
break;
default: