From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Fri, 9 Oct 2015 17:05:02 +0000 (+0200)
Subject: Added forgotten files.
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/commitdiff_plain/a7c5ee73ad71ae8502e28c907929e2175818b998

Added forgotten files.
---

diff --git a/pmsm-control/test_sw/pwm.h b/pmsm-control/test_sw/pwm.h
new file mode 100644
index 0000000..debb62c
--- /dev/null
+++ b/pmsm-control/test_sw/pwm.h
@@ -0,0 +1,29 @@
+/**
+ * \brief Interface pro ovladani pwm.
+ * \file pwm.h
+ * \date Jan 21, 2015
+ * \author Martin Prudek
+ *
+ * 	Deklaruje funkce pro ovladani pulzne sirkove modulace bez znalosti konkretniho hardware.
+ * 	Implementace pro rt-linux v "rpi_hw.c"
+ * 		pro wiringPI ve "wir_Pi_api.c"
+ *
+ */
+
+#ifndef PWM_H_
+#define PWM_H_
+
+/**
+ * inicializuje pwm
+ */
+extern void pwm_init();
+/**
+ * deinicializuje pwm
+ */
+extern void pwm_disable();
+/**
+ * nastavi sirku plneni pwm
+ */
+extern void pwm_width(int width);
+
+#endif /*PWM_H_*/
diff --git a/pmsm-control/test_sw/udp_cli.c b/pmsm-control/test_sw/udp_cli.c
new file mode 100644
index 0000000..fd9db7a
--- /dev/null
+++ b/pmsm-control/test_sw/udp_cli.c
@@ -0,0 +1,106 @@
+/**
+ * \brief Implementace klienta pro UDP komunikaci.
+ * \file udp_cli.c
+ * \author Martin Prudek
+ * 
+ * 	Implementace klienta pro prijmani referencni pozice pro rizeni motoru.
+ * 	Pouziva protokol UDP.
+ */
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+#include <unistd.h>
+
+#include "udp_cli.h"
+
+
+#define MAX_BUF 1400
+#define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
+
+
+/**
+ * 
+ * Funkce spusti sekvenci,
+ * ktera pravidelne aktualizuje pozici vzdaleneho moturu
+ * port 45789 
+ */
+void* start_reading_remote_position(void * param)
+{
+
+	char* ipbuff;
+	int delka;
+	int sockd;
+	struct sockaddr_in my_addr, srv_addr;
+	char buf[MAX_BUF];
+	char code[MAX_BUF];
+	int count;
+	int addrlen;
+	int port=45789;
+	struct timespec t;
+	int interval = 2000000;	/*500hz*/
+	struct remote_pos_st *rpst=(struct remote_pos_st*)param;
+	
+
+	ipbuff=rpst->ip;
+  
+	/* create a UDP socket */
+	sockd = socket(AF_INET, SOCK_DGRAM, 0);
+	if (sockd == -1)
+	{
+		perror("Socket creation error");
+		exit(1);
+	}
+
+
+	/* Configure client address */
+	my_addr.sin_family = AF_INET;
+	my_addr.sin_addr.s_addr = INADDR_ANY;
+	my_addr.sin_port = 0;
+
+	bind(sockd, (struct sockaddr*)&my_addr, sizeof(my_addr));
+
+	/*inicializa bufferu*/
+	memset(buf,0,MAX_BUF);
+	buf[MAX_BUF-1]='\0';
+
+	/* server address */
+	srv_addr.sin_family = AF_INET;
+	inet_aton(ipbuff, &srv_addr.sin_addr);
+	srv_addr.sin_port = htons(port);
+	
+	strcpy(code,"pr"); /*position request code */
+	delka=strlen(code)+1;
+	clock_gettime(CLOCK_MONOTONIC ,&t);
+	while(1){  
+		/* wait until next shot */
+		clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
+
+		sendto(sockd, code, delka, 0,(struct sockaddr*)&srv_addr, sizeof(srv_addr));
+		addrlen = sizeof(srv_addr);
+		count = recvfrom(sockd, buf, MAX_BUF, 0,(struct sockaddr*)&srv_addr, &addrlen);
+
+		sem_wait(rpst->semaphore);
+		if (rpst->stop){
+			sem_post(rpst->semaphore);
+			break;
+		}
+		*rpst->rem_pos=*((int*)buf)*rpst->factor;
+		sem_post(rpst->semaphore);
+
+		/* calculate next shot */
+		t.tv_nsec += interval;
+		while (t.tv_nsec >= NSEC_PER_SEC) {
+			t.tv_nsec -= NSEC_PER_SEC;
+			t.tv_sec++;
+
+		}
+	}
+	close(sockd);
+	return (void *)0;
+}
+
diff --git a/pmsm-control/test_sw/udp_cli.h b/pmsm-control/test_sw/udp_cli.h
new file mode 100644
index 0000000..90fdd9a
--- /dev/null
+++ b/pmsm-control/test_sw/udp_cli.h
@@ -0,0 +1,30 @@
+/**
+ * \brief Interface pro klienta UDP.
+ * \file udp_cli.h
+ * \author Martin Prudek
+ * 
+ * 	Definice souboru funkci, ktere zajisti cteni polohy vzdaleneho motoru pomoci UDP.
+ */
+
+#include <semaphore.h>
+#include <stdint.h>
+
+struct remote_pos_st{
+	sem_t *semaphore;	/* semafor pro ukladani pozice */
+	char * ip;		/* ip zdroje */
+	int * rem_pos;		/* adresa, kam ukladat pozici */
+	int factor;		/* prepcet mezi pozicemi */
+	char stop;		/* indicates request to stop */
+};
+
+/**
+ * \param tick_count Perioda spousteni= pocet tiku o delce 200us
+ * \param ip_ptr Pointer na string definujici ip position serveru  
+ * 
+ * 	Funkce spusti sekvenci,
+ * 	ktera pravidelne aktualizuje pozici vzdaleneho moturu
+ * 	port 45789
+ */
+
+void* start_reading_remote_position(void*);
+