#spoustime na desktopu
#sestavi udp server
-server: main_ref_srv.o udp_srv.o
- gcc -o server main_ref_srv.o udp_srv.o -lpthread
+pc_udp_server: main_ref_srv.o udp_srv.o
+ gcc -o pc_udp_server main_ref_srv.o udp_srv.o -lpthread
#pro rpi
#sestavi klienta s pouzitim wiringPi pro non-rt
#pro rpi
#sestavi klienta pro PREEMPT_RT
-client_rt: main_ctrl.o loc_pos_file.o udp_cli.o pid.o rpi_hw.o web_srv.o web_dat.o misc.o
- gcc -o client main_ctrl.o udp_cli.o pid.o web_srv.o web_dat.o misc.o loc_pos_file.o rpi_hw.o -lpthread -lrt
+rpi_udp_client_rt: main_ctrl.o loc_pos_file.o misc.o udp_cli.o
+ gcc -o rpi_udp_client_dc_rt main_ctrl.o misc.o loc_pos_file.o udp_cli.o -lpthread -lrt
#poustim z desktopu
#prenese zdrojove kody klienta na raspberry
scp:
scp -rp ./ pi@10.0.0.22:/home/pi/motor
+#poustim z desktopu
+#prenese zdrojove kody klienta na raspberry B plus
+scpp:
+ scp -rp ./ pi@10.0.0.28:/home/pi/motor
#poustime z RPi
#sestavi "blikej" - jednoduchy testovaci nastroj
blikej: howto_gpio.o rpi_hw.o
#pro rpi
pmsm: main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o commutators.o comp.o logs.o pmsm_state.o
gcc -o pmsm_controll main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o commutators.o comp.o logs.o pmsm_state.o -lpthread -lrt
+
+#udp capable pmsm control
+pmsm_udp: main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o commutators.o comp.o logs.o pmsm_state.o udp_cli.o
+ gcc -o pmsm_controll main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o commutators.o comp.o logs.o pmsm_state.o udp_cli.o -lpthread -lrt
+
+#pro rpi
+rpi_udp_server_dc_rt: main_rpi_udp_server_dc_rt.o loc_pos_file.o misc.o udp_srv.o
+ gcc -o rpi_udp_server_dc_rt main_rpi_udp_server_dc_rt.o misc.o loc_pos_file.o udp_srv.o -lpthread -lrt
#include "cmd_proc.h"
#include "logs.h"
+/*
+ * UDP_CAPABLE definuje, zda je pouzeitelna moznost cteni
+ * referencnich informaci z jineho zarizeni po protokolu
+ * UDP. Jde zatim jen o testovaci rezim
+ */
+#define UDP_CAPABLE_X
+
+#ifdef UDP_CAPABLE
+#include "udp_cli.h"
+#include "misc.h"
+#include <pthread.h>
+#endif
+
+
#define PRUM_PROUD 2061
#define PRUM_SOUC 6183
static char doPrint = 1;
+#ifdef UDP_CAPABLE
+static struct remote_pos_st remote_pos={
+ .stop=1
+};
+#endif
+
+/*
+ * zastavi cteni po UDP
+ */
+static inline void stop_udp_SEM(){
+ #ifdef UDP_CAPABLE
+ remote_pos.stop=1;
+ #endif
+}
+
+
/*
* \brief
puts("log - Spusti nebo ulozi logovani.");
puts("ao:[hodnota] - Prenastavi alpha offset.");
+ #ifdef UDP_CAPABLE
+ puts("udp_pos:[ip] - Bude ridit pozici na hodnotu vzdaleneho zarizeni");
+ puts("udp_spd:[ip] - Bude ridit rychlost na hodnotu vzdaleneho zarizeni");
+ #endif
+
puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
puts("exit - Bezpecne ukonci program.");
* Zastavi komutaci, vypne pwm
*/
static void stop(struct rpi_state* state){
+ stop_udp_SEM();
sem_wait(&state->thd_par_sem);
setCommutationOff(state);
setRegulationOff(state);
* Nastavi pevnou sirku plneni
*/
static void dutySet(struct rpi_state* state, int duty){
+ stop_udp_SEM();
sem_wait(&state->thd_par_sem);
if (duty>MAX_DUTY) duty=MAX_DUTY;
if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
* Zapne rizeni na zvolenou polohu vztazenou k pozici pri startu
*/
static void goAbsolute(struct rpi_state* state, int pos){
+ stop_udp_SEM();
sem_wait(&state->thd_par_sem);
setRegulationPos(state);
setCommutationOn(state);
static void setSpeed(struct rpi_state* state, int speed){
if (speed>MAX_SPEED) speed=MAX_SPEED;
if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
+ stop_udp_SEM();
sem_wait(&state->thd_par_sem);
setRegulationSpeed(state);
setCommutationOn(state);
}
}
+#ifdef UDP_CAPABLE
+static void startUdpPos(struct rpi_state* state, char *ip){
+ pthread_t thread_id=pthread_self();
+ if (!remote_pos.stop) return; /*dont be reentrant*/
+ setCommutationOn(state);
+ setRegulationPos(state);
+ remote_pos.stop=0;
+ remote_pos.ip=ip;
+ remote_pos.factor=-5;
+ remote_pos.semaphore=&state->thd_par_sem;
+ remote_pos.rem_pos=&state->desired_pos;
+ create_rt_task(&thread_id,48,start_reading_remote_position,&remote_pos);
+}
+
+/*FIXME thers no max speed limit check!!! hard debug mode!! be careful*/
+static void startUdpSpd(struct rpi_state* state, char *ip){
+ pthread_t thread_id=pthread_self();
+ if (!remote_pos.stop) return; /*dont be reentrant*/
+ setCommutationOn(state);
+ setRegulationSpeed(state);
+ remote_pos.stop=0;
+ remote_pos.ip=ip;
+ remote_pos.factor=-1;
+ remote_pos.semaphore=&state->thd_par_sem;
+ remote_pos.rem_pos=&state->desired_spd;
+ create_rt_task(&thread_id,48,start_reading_remote_position,&remote_pos);
+}
+#endif
/**
* \brief
* Commands detection.
unsigned int tmp;
char buff[50];
char cmd[30];
+ char cmd2[30];
int val;
while(1){
scanf("%49s",buff);
delCol(buff);
sscanf(buff,"%s %d",cmd,&val);
+ sscanf(buff,"%s %s",cmd,cmd2);
if (!strcmp(cmd,"start")){
}else if (!strcmp(cmd,"ao")){
setAlphaOff(state,val);
}
+ #ifdef UDP_CAPABLE
+ else if (!strcmp(cmd,"udp_pos")){
+ startUdpPos(state,cmd2);
+ }else if (!strcmp(cmd,"udp_spd")){
+ startUdpSpd(state,cmd2);
+
+ }
+ #endif
+
}
}