From 4ce508fb799a94fd7c98e04e02421138fe51c621 Mon Sep 17 00:00:00 2001
From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Sat, 16 May 2015 11:54:47 +0200
Subject: [PATCH] Added user-friendly interface.

---
 pmsm-control/test_sw/cmd_proc.c | 184 +++++++++++++++++++++-----------
 1 file changed, 124 insertions(+), 60 deletions(-)

diff --git a/pmsm-control/test_sw/cmd_proc.c b/pmsm-control/test_sw/cmd_proc.c
index da882c0..d5e3020 100644
--- a/pmsm-control/test_sw/cmd_proc.c
+++ b/pmsm-control/test_sw/cmd_proc.c
@@ -1,79 +1,141 @@
 #include <stdlib.h>
 #include <stdio.h>
+#include <string.h>
 
 #include "cmd_proc.h"
 
 #define PRUM_PROUD 	2061
 #define PRUM_SOUC	6183
 
+static char doPrint = 1;
+
+/*
+ * \brief
+ * Help
+ */
+static void printHelp(){
+	doPrint=0;
+	puts("start - Pripravi rizeni, zapne enable bity pwm.");
+	puts("stop - Vypne pwm a rizeni. Enable bity na nulu.");
+	puts("0 - Vypne pwm a rizeni. Enable bity na nulu.");
+	puts("ga:[hodnota] - Zapne rizeni na zvolenou absolutni pozici.");
+	puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
+	puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
+	puts("exit - Bezpecne ukonci program.");
+}
+
+
+/*
+ * \brief
+ * V prikazech je hodnota od zneni prikazu delena dvojteckou
+ * tato funkce dvojtecku nahradi mezerou
+ */
+static void delCol(char * txt){
+        unsigned i=0;
+        while(txt[i]!='\0'){
+                if (txt[i]==':') txt[i]=' ';
+                i++;
+        }
+}
+
+/*
+ * Nastavi enable bity na pwm,
+ * zapne komutaci
+ */
+static void start(struct rpi_state* state){
+	sem_wait(&state->thd_par_sem);
+	state->test=0x70;	/*konfiguracni byte*/
+	state->commutate=1;
+	sem_post(&state->thd_par_sem);
+}
+
+/*
+ * \brief
+ * Zastavi komutaci, vypne pwm
+ */
+static void stop(struct rpi_state* state){
+	sem_wait(&state->thd_par_sem);
+	state->test=0;		/*konfiguracni byte*/
+	state->commutate=0;
+	state->pwm1=0;
+	state->pwm2=0;
+	state->pwm3=0;
+	sem_post(&state->thd_par_sem);
+}
+
+/*
+ * \brief
+ * Nastavi pevnou sirku plneni
+ */
+static void dutySet(struct rpi_state* state, int duty){
+
+}
+
+/*
+ * \brief
+ * Zapne rizeni na zvolenou polohu vztazenou k pozici pri startu
+ */
+static void goAbsolute(struct rpi_state* state, int pos){
+	sem_wait(&state->thd_par_sem);
+	state->desired_pos=pos;
+	sem_post(&state->thd_par_sem);
+}
+
+/*
+ * \brief
+ * Zapne nebo vypne pravidelne vypisovani hodnot.
+ */
+static void changePrint(){
+	doPrint=!doPrint;
+}
+
+/*
+ * \brief
+ * Bezpecne ukonci program.
+ */
+static void exitApp(struct rpi_state* state){
+	stop(state);
+	/* Note: atexit() is set before*/
+	exit(0);
+}
+
 /**
  * \brief
  * Commands detection.
  */
 void poll_cmd(struct rpi_state* state){
 	unsigned int tmp;
-	/*
-	 * Note:
-	 * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
-	 * k preukladani hodnot na promenne test. Dost divne.
-	 */
-	while (1){
-		scanf("%u",&tmp);
-		printf("volba=%u\n",tmp);
-		switch (tmp){
-		case 1:
-			scanf("%u",&tmp);
-			sem_wait(&state->thd_par_sem);
-			state->pwm1=tmp&0xFFF;
-			sem_post(&state->thd_par_sem);
-			break;
-		case 2:
-			scanf("%u",&tmp);
-			sem_wait(&state->thd_par_sem);
-			state->pwm2=tmp&0xFFF;
-			sem_post(&state->thd_par_sem);
-			break;
-		case 3:
-			scanf("%u",&tmp);
-			sem_wait(&state->thd_par_sem);
-			state->pwm3=tmp&0xFFF;
-			sem_post(&state->thd_par_sem);
-			break;
-		case 4:
-			scanf("%u",&tmp);
-			sem_wait(&state->thd_par_sem);
-			state->test=tmp&0xFF;
-			sem_post(&state->thd_par_sem);
-			break;
-		case 5:
-			sem_wait(&state->thd_par_sem);
-			state->commutate=!state->commutate;
-			/* switch off pwms at the end of commutation */
-			state->pwm1&=state->commutate*0xFFFF;
-			state->pwm2&=state->commutate*0xFFFF;
-			state->pwm3&=state->commutate*0xFFFF;
-			sem_post(&state->thd_par_sem);
-			break;
-		case 6:
-			scanf("%d",&tmp);
-			sem_wait(&state->thd_par_sem);
-			state->duty=tmp;
-			sem_post(&state->thd_par_sem);
-			break;
-		case 7:
-			scanf("%d",&tmp);
-			sem_wait(&state->thd_par_sem);
-			state->desired_pos=tmp;
-			sem_post(&state->thd_par_sem);
-			break;
-
-		default:
-			break;
-		}
+        char buff[50];
+        char cmd[30];
+        int val;
+
+        while(1){
+                scanf("%49s",buff);
+                delCol(buff);
+                sscanf(buff,"%s %d",cmd,&val);
+
+
+                if (!strcmp(cmd,"start")){
+                	start(state);
+                }else if (!strcmp(cmd,"0")){
+                	stop(state);
+                }else if (!strcmp(cmd,"stop")){
+                        stop(state);
+                }else if (!strcmp(cmd,"ga")){
+                	goAbsolute(state,val);
+                }else if (!strcmp(cmd,"duty")){
+                        dutySet(state,val);
+                }else if (!strcmp(cmd,"help")){
+                        printHelp();
+                }else if (!strcmp(cmd,"print")){
+                        changePrint();
+                }else if (!strcmp(cmd,"exit")){
+                        exitApp(state);
+                }
+        }
 
-	}
-	return ;
 }
+
 /*
  * pocita procentualni odchylku od prumerneho proudu
  */
@@ -91,6 +153,8 @@ float diff_s(float value){
  * tiskne potrebna data
  */
 void printData(struct rpi_state* state){
+	if (!doPrint) return;
+
 	struct rpi_in data_p;
 	struct rpi_state s;	/*state*/
 	float cur0, cur1, cur2;
-- 
2.39.2