From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Sat, 16 May 2015 19:47:57 +0000 (+0200)
Subject: Now it is possible to log state data.
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/commitdiff_plain/e25e3c141a062914c72263faec10ffbbad2328e2

Now it is possible to log state data.
---

diff --git a/pmsm-control/test_sw/cmd_proc.c b/pmsm-control/test_sw/cmd_proc.c
index 82d5390..a0b0592 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -21,6 +21,7 @@ static void printHelp(){
 	puts("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");
 	puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
 	puts("spd:[hodnota] - Zapne rizeni na danou rychlost.");
+	puts("log - Spusti nebo ulozi logovani.");
 
 	puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
 	puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
@@ -114,9 +115,9 @@ static void exitApp(struct rpi_state* state){
  * Set speed.
  */
 static void setSpeed(struct rpi_state* state, int speed){
-	sem_wait(&state->thd_par_sem);
 	if (speed>MAX_SPEED) speed=MAX_SPEED;
 	if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
+	sem_wait(&state->thd_par_sem);
 	state->pos_reg_ena=0;
 	state->spd_reg_ena=1;
 	state->commutate=1;
@@ -124,6 +125,68 @@ static void setSpeed(struct rpi_state* state, int speed){
 	sem_post(&state->thd_par_sem);
 }
 
+/*
+ * \brief
+ * Initialize logs
+ */
+static void logInit(struct rpi_state* state){
+	int r;
+	state->log_col=0;
+	state->log_col_count=LOG_DEF_COL;
+	for (r=0;r<LOG_ROWS;r++){
+		state->logs[r]=malloc(state->log_col_count*sizeof(int));
+	}
+}
+
+/*
+ * \brief
+ * Save logs
+ */
+static void saveLogs(struct rpi_state* state){
+	FILE *f;
+	int r,s;
+
+	f = fopen("logs.txt", "w");
+	if (f == NULL){
+		printf("Error opening file!\n");
+		return;
+	}
+
+	for (r=0;r<LOG_ROWS;r++){
+		for(s=0;s<state->log_col-1;s++){	/*posledni sloupec je vevyplneny*/
+			if (s==state->log_col-2){
+				fprintf(f,"%d ",state->logs[r][s]);
+	                }else{
+	                        fprintf(f,"%d, ",state->logs[r][s]);
+	                }
+	        }
+	        fprintf(f,"\r");
+	}
+	fclose(f);
+	freeLogs();
+}
+
+/**
+ * \brief
+ * SetLog
+ * if logs are being logged, save them
+ * if they are not, start log them
+ */
+static void setLogSEM(struct rpi_state* state){
+	sem_wait(&state->thd_par_sem);
+	/* ulozim logy a vypnu zachytavani*/
+	if (state->log_col_count){
+		state->doLogs=0;
+		sem_post(&state->thd_par_sem);
+		saveLogs(state);
+	/* spustim zachytavani logu */
+	}else{
+		logInit(state);
+		state->doLogs=1;
+		sem_post(&state->thd_par_sem);
+	}
+}
+
 /**
  * \brief
  * Commands detection.
@@ -158,6 +221,8 @@ void poll_cmd(struct rpi_state* state){
                         exitApp(state);
                 }else if (!strcmp(cmd,"spd")){
                         setSpeed(state, val);
+                }else if (!strcmp(cmd,"log")){
+                        setLogSEM(state);
                 }
         }
 
@@ -166,13 +231,13 @@ void poll_cmd(struct rpi_state* state){
 /*
  * pocita procentualni odchylku od prumerneho proudu
  */
-float diff_p(float value){
+static float diff_p(float value){
 	return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
 }
 /*
  * pocita procentualni odchylku od prumerneho souctu proudu
  */
-float diff_s(float value){
+static float diff_s(float value){
 	return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
 }
 
diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 3d13ff2..bd676e4 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -57,7 +57,10 @@ struct rpi_state rps={
 	.desired_spd=0,
 	.spd_reg_ena=0,
 	.old_pos={0},
-	.spd_err_sum=0
+	.spd_err_sum=0,
+	.log_col_count=0,	/* pocet radku zaznamu */
+	.log_col=0,
+	.doLogs=0
 };
 
 /**
@@ -95,6 +98,46 @@ int32_t min(int32_t x, int32_t y, int32_t z){
 
         return x;
 }
+
+/*
+ * \brief
+ * Free logs
+ */
+void freeLogs(){
+	int r;
+	if (rps.log_col_count){
+		for (r=0;r<LOG_ROWS;r++){
+			free(rps.logs[r]);
+		}
+	}
+	rps.log_col_count=0;
+	rps.doLogs=0;
+}
+
+/*
+ * \brief
+ * Makes log.
+ */
+void makeLog(){
+	int r;
+	if (rps.log_col==MAX_LOGS-1){
+		rps.doLogs=0;
+		return;
+	}
+	rps.logs[0][rps.log_col]=(int)rps.tf_count;
+	rps.logs[1][rps.log_col]=(int)rps.spi_dat->pozice;
+
+	rps.log_col++;
+
+        if (rps.log_col==rps.log_col_count-1){
+        	rps.log_col_count*=2;
+        	rps.log_col_count%=MAX_LOGS;
+        	for (r=0;r<LOG_ROWS;r++){
+        		rps.logs[r]=realloc(rps.logs[r],rps.log_col_count*sizeof(int));
+        	}
+        }
+}
+
 /*
  * \brief
  * Pripravi psi buffer
@@ -177,6 +220,7 @@ void appl_stop(){
 
 	spi_disable();
 	clk_disable();
+	freeLogs();
 	/*muzeme zavrit semafor*/
 	sem_destroy(&rps.thd_par_sem);
         printf("\nprogram bezpecne ukoncen\n");
@@ -623,6 +667,12 @@ void * read_data(void* param){
 			}else if(!rps.index_ok && rps.commutate){
 				simple_hall_commutator(rps.duty);
 			}
+
+			/*zalogujeme hodnoty*/
+			if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
+				makeLog();
+			}
+
 			sem_post(&rps.thd_par_sem);		/*--post semaphore---*/
 
 			/* calculate next shot */
diff --git a/pmsm-control/test_sw/pmsm_state.h b/pmsm-control/test_sw/pmsm_state.h
index 32c8d74..a148e1c 100644
--- a/pmsm-control/test_sw/pmsm_state.h
+++ b/pmsm-control/test_sw/pmsm_state.h
@@ -8,6 +8,11 @@
 #define MAX_DUTY	170
 #define MAX_SPEED 	(7*OLD_POS_NUM)
 
+#define LOG_ROWS	2
+#define LOG_DEF_COL	500
+#define MAX_LOGS	1000
+#define LOG_PERIOD	10
+
 struct rpi_in;
 
 struct rpi_state{
@@ -33,6 +38,13 @@ struct rpi_state{
 	char spd_reg_ena;		/* speed rugulation enable */
 
 	int spd_err_sum;		/* for speed pid regulator */
+
+	int *logs[LOG_ROWS];		/* logs */
+	int log_col_count;		/* number of log columns */
+	int log_col;			/* current colimn */
+	char doLogs;			/* schall we make logs? */
 };
 
+void freeLogs();
+
 #endif /*PMSM_STATE*/