From 067296cf27a01a3cb766e31c44d313707964d9c3 Mon Sep 17 00:00:00 2001
From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Sun, 10 May 2015 12:55:21 +0200
Subject: [PATCH] Added detection os index signal lost.

---
 pmsm-control/test_sw/main_pmsm.c | 38 ++++++++++++++++++++++++--------
 1 file changed, 29 insertions(+), 9 deletions(-)

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 12f236d..6e539b2 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -413,32 +413,52 @@ void comIndDist(){
 	uint16_t dist;
 	uint16_t index = data.index_position;
 
-	if (index<2048){
-		if (pos<index){
+	if (index<1999){		/*index e<0,1998> */
+		if (pos<index){			/*pozice e<0,index-1> */
 			/*proti smeru h.r. od indexu*/
 			dist=pos+2000-index;
-		}else if (pos<=index+2048){
+		}else if (pos<=index+1999){	/*pozice e<index,index+1999> */
 			/*po smeru h.r. od indexu*/
 			dist=pos-index;
-		}else{
+		}else if (pos<index+2096){	/*pozice e<index+2000,index+2095> */
+			goto index_lost;
+		}else{				/*pozice e<index+2096,4095> */
 			/*proti smeru h.r. od indexu - podtecena pozice*/
 			dist=pos-index-2096;
 		}
-	}else{
-		if (pos<index-2048){
+	}else if (index<=2096){		/*index e<1999,2096>*/
+		if (pos<index-1999){		/*pozice e<0,index-2000> */
+			goto index_lost;
+		}else if (pos<index){		/*pozice e<index-1999,index-1> */
+			/*proti smeru h.r. od indexu*/
+			dist=pos+2000-index;
+		}else if (pos<=index+1999){	/*pozice e<index,index+1999> */
+			/*po smeru h.r. od indexu*/
+			dist=pos-index;
+		}else {				/*pozice e<index+2000,4095> */
+			goto index_lost;
+		}
+	}else{				/*index e<2097,4095> */
+		if (pos<=index-2097){		/*pozice e<0,index-2097> */
 			/*po smeru h.r. od indexu - pretecena pozice*/
 			dist=4096+pos-index;
-		}else if (pos<index){
+		}else if (pos<index-1999){	/*pozice e<index-2096,index-2000> */
+			goto index_lost;
+		}else if (pos<index){		/*pozice e<index-1999,index-1> */
 			/*proti smeru h.r. od indexu*/
 			dist=pos+2000-index;
-		}else{
+		}else{ 				/*pozice e<index,4095> */
 			/*po smeru h.r. od indexu*/
 			dist=pos-index;
 		}
-
 	}
+
 	rps.index_dist = dist;
 	return;
+
+	index_lost:
+		rps.index_ok=0;
+		return;
 }
 /*
  * \brief
-- 
2.39.2