From 65c0ac775770408e2acec9a903d4f2071ab0a165 Mon Sep 17 00:00:00 2001
From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Sun, 10 May 2015 11:18:33 +0200
Subject: [PATCH] Changed computation of distance to index - there's no
 detection of index position lost.

---
 pmsm-control/test_sw/main_pmsm.c | 44 +++++++++++++++++++++++++-------
 1 file changed, 35 insertions(+), 9 deletions(-)

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index cbc6879..f666358 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -143,7 +143,7 @@ void printData(){
 	printf("\npozice=%d\n",(int32_t)data_p.pozice);
 	printf("chtena pozice=%d\n",s.desired_pos);
 	printf("transfer count=%u\n",s.tf_count);
-	printf("raw_pozice=%d\n",(int32_t)data_p.pozice_raw);
+	printf("raw_pozice=%u\n",data_p.pozice_raw);
 	printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
 	printf("index position=%u\n",data_p.index_position);
 	printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
@@ -399,15 +399,41 @@ inline void simple_hall_commutator(int duty){
 	}
 }
 /**
- * Funkce pravidelne vycita data z motoru
+ * \brief
+ * Computation of distance to index.
+ *
+ * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu
+ * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu -
+ * 	to je 3999 bodu
+ * 	=>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate
+ * 		signalu indexu
  */
-inline void comIndDist(){
-	rps.index_dist=0x0FFF & (data.pozice_raw - data.index_position);
-	/*
-	 * if distance is bigger than 2047, the distance underflown
-	 * -> if 12th bit is set, substract 2096
-	 */
-	rps.index_dist-=((rps.index_dist & 0x0800)>>11)*2096;
+void comIndDist(){
+	uint16_t pos_12 = 0x0FFF & data.pozice_raw;
+	if (data.index_position<2048){
+		if (pos_12<data.index_position){
+			/*proti smeru h.r. od indexu*/
+			rps.index_dist=pos_12+2000-data.index_position;
+		}else if (pos_12<=data.index_position+2048){
+			/*po smeru h.r. od indexu*/
+			rps.index_dist=pos_12-data.index_position;
+		}else{
+			/*proti smeru h.r. od indexu - podtecena pozice*/
+			rps.index_dist=pos_12-data.index_position-2096;
+		}
+	}else{
+		if (pos_12<data.index_position-2048){
+			/*po smeru h.r. od indexu - pretecena pozice*/
+			rps.index_dist=4096+pos_12-data.index_position;
+		}else if (pos_12<data.index_position){
+			/*proti smeru h.r. od indexu*/
+			rps.index_dist=pos_12+2000-data.index_position;
+		}else{
+			/*po smeru h.r. od indexu*/
+			rps.index_dist=pos_12-data.index_position;
+		}
+
+	}
 }
 /*
  * \brief
-- 
2.39.2