From a878f480354c01ccb7c4b670638cfdc738902c0c Mon Sep 17 00:00:00 2001 From: Martin Prudek Date: Thu, 21 May 2015 22:42:50 +0200 Subject: [PATCH] Commit of version on DVD. --- pmsm-control/test_sw/Makefile | 20 +++++++-- pmsm-control/test_sw/cmd_proc.c | 78 +++++++++++++++++++++++++++++++++ 2 files changed, 94 insertions(+), 4 deletions(-) diff --git a/pmsm-control/test_sw/Makefile b/pmsm-control/test_sw/Makefile index 8684cd7..73aeb4a 100644 --- a/pmsm-control/test_sw/Makefile +++ b/pmsm-control/test_sw/Makefile @@ -23,8 +23,8 @@ build: #spoustime na desktopu #sestavi udp server -server: main_ref_srv.o udp_srv.o - gcc -o server main_ref_srv.o udp_srv.o -lpthread +pc_udp_server: main_ref_srv.o udp_srv.o + gcc -o pc_udp_server main_ref_srv.o udp_srv.o -lpthread #pro rpi #sestavi klienta s pouzitim wiringPi pro non-rt @@ -33,14 +33,18 @@ client_wirpi: main_ctrl.o udp_cli.o wir_Pi_api.o pid.o misc.o #pro rpi #sestavi klienta pro PREEMPT_RT -client_rt: main_ctrl.o loc_pos_file.o udp_cli.o pid.o rpi_hw.o web_srv.o web_dat.o misc.o - gcc -o client main_ctrl.o udp_cli.o pid.o web_srv.o web_dat.o misc.o loc_pos_file.o rpi_hw.o -lpthread -lrt +rpi_udp_client_rt: main_ctrl.o loc_pos_file.o misc.o udp_cli.o + gcc -o rpi_udp_client_dc_rt main_ctrl.o misc.o loc_pos_file.o udp_cli.o -lpthread -lrt #poustim z desktopu #prenese zdrojove kody klienta na raspberry scp: scp -rp ./ pi@10.0.0.22:/home/pi/motor +#poustim z desktopu +#prenese zdrojove kody klienta na raspberry B plus +scpp: + scp -rp ./ pi@10.0.0.28:/home/pi/motor #poustime z RPi #sestavi "blikej" - jednoduchy testovaci nastroj blikej: howto_gpio.o rpi_hw.o @@ -51,3 +55,11 @@ spi: rp_spi.o #pro rpi pmsm: main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o commutators.o comp.o logs.o pmsm_state.o gcc -o pmsm_controll main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o commutators.o comp.o logs.o pmsm_state.o -lpthread -lrt + +#udp capable pmsm control +pmsm_udp: main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o commutators.o comp.o logs.o pmsm_state.o udp_cli.o + gcc -o pmsm_controll main_pmsm.o rp_spi.o rpi_hw.o misc.o pxmc_sin_fixtab.o cmd_proc.o controllers.o commutators.o comp.o logs.o pmsm_state.o udp_cli.o -lpthread -lrt + +#pro rpi +rpi_udp_server_dc_rt: main_rpi_udp_server_dc_rt.o loc_pos_file.o misc.o udp_srv.o + gcc -o rpi_udp_server_dc_rt main_rpi_udp_server_dc_rt.o misc.o loc_pos_file.o udp_srv.o -lpthread -lrt diff --git a/pmsm-control/test_sw/cmd_proc.c b/pmsm-control/test_sw/cmd_proc.c index 66e9be8..f163602 100644 --- a/pmsm-control/test_sw/cmd_proc.c +++ b/pmsm-control/test_sw/cmd_proc.c @@ -5,11 +5,41 @@ #include "cmd_proc.h" #include "logs.h" +/* + * UDP_CAPABLE definuje, zda je pouzeitelna moznost cteni + * referencnich informaci z jineho zarizeni po protokolu + * UDP. Jde zatim jen o testovaci rezim + */ +#define UDP_CAPABLE_X + +#ifdef UDP_CAPABLE +#include "udp_cli.h" +#include "misc.h" +#include +#endif + + #define PRUM_PROUD 2061 #define PRUM_SOUC 6183 static char doPrint = 1; +#ifdef UDP_CAPABLE +static struct remote_pos_st remote_pos={ + .stop=1 +}; +#endif + +/* + * zastavi cteni po UDP + */ +static inline void stop_udp_SEM(){ + #ifdef UDP_CAPABLE + remote_pos.stop=1; + #endif +} + + /* * \brief @@ -26,6 +56,11 @@ static void printHelp(){ puts("log - Spusti nebo ulozi logovani."); puts("ao:[hodnota] - Prenastavi alpha offset."); + #ifdef UDP_CAPABLE + puts("udp_pos:[ip] - Bude ridit pozici na hodnotu vzdaleneho zarizeni"); + puts("udp_spd:[ip] - Bude ridit rychlost na hodnotu vzdaleneho zarizeni"); + #endif + puts("print - Zapne nebo vypne pravidelne vypisovani hodnot."); puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu."); puts("exit - Bezpecne ukonci program."); @@ -60,6 +95,7 @@ static void start(struct rpi_state* state){ * Zastavi komutaci, vypne pwm */ static void stop(struct rpi_state* state){ + stop_udp_SEM(); sem_wait(&state->thd_par_sem); setCommutationOff(state); setRegulationOff(state); @@ -75,6 +111,7 @@ static void stop(struct rpi_state* state){ * Nastavi pevnou sirku plneni */ static void dutySet(struct rpi_state* state, int duty){ + stop_udp_SEM(); sem_wait(&state->thd_par_sem); if (duty>MAX_DUTY) duty=MAX_DUTY; if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/ @@ -89,6 +126,7 @@ static void dutySet(struct rpi_state* state, int duty){ * Zapne rizeni na zvolenou polohu vztazenou k pozici pri startu */ static void goAbsolute(struct rpi_state* state, int pos){ + stop_udp_SEM(); sem_wait(&state->thd_par_sem); setRegulationPos(state); setCommutationOn(state); @@ -120,6 +158,7 @@ static void exitApp(struct rpi_state* state){ static void setSpeed(struct rpi_state* state, int speed){ if (speed>MAX_SPEED) speed=MAX_SPEED; if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/ + stop_udp_SEM(); sem_wait(&state->thd_par_sem); setRegulationSpeed(state); setCommutationOn(state); @@ -159,6 +198,34 @@ static void setLogSEM(struct rpi_state* state){ } } +#ifdef UDP_CAPABLE +static void startUdpPos(struct rpi_state* state, char *ip){ + pthread_t thread_id=pthread_self(); + if (!remote_pos.stop) return; /*dont be reentrant*/ + setCommutationOn(state); + setRegulationPos(state); + remote_pos.stop=0; + remote_pos.ip=ip; + remote_pos.factor=-5; + remote_pos.semaphore=&state->thd_par_sem; + remote_pos.rem_pos=&state->desired_pos; + create_rt_task(&thread_id,48,start_reading_remote_position,&remote_pos); +} + +/*FIXME thers no max speed limit check!!! hard debug mode!! be careful*/ +static void startUdpSpd(struct rpi_state* state, char *ip){ + pthread_t thread_id=pthread_self(); + if (!remote_pos.stop) return; /*dont be reentrant*/ + setCommutationOn(state); + setRegulationSpeed(state); + remote_pos.stop=0; + remote_pos.ip=ip; + remote_pos.factor=-1; + remote_pos.semaphore=&state->thd_par_sem; + remote_pos.rem_pos=&state->desired_spd; + create_rt_task(&thread_id,48,start_reading_remote_position,&remote_pos); +} +#endif /** * \brief * Commands detection. @@ -167,12 +234,14 @@ void poll_cmd(struct rpi_state* state){ unsigned int tmp; char buff[50]; char cmd[30]; + char cmd2[30]; int val; while(1){ scanf("%49s",buff); delCol(buff); sscanf(buff,"%s %d",cmd,&val); + sscanf(buff,"%s %s",cmd,cmd2); if (!strcmp(cmd,"start")){ @@ -198,6 +267,15 @@ void poll_cmd(struct rpi_state* state){ }else if (!strcmp(cmd,"ao")){ setAlphaOff(state,val); } + #ifdef UDP_CAPABLE + else if (!strcmp(cmd,"udp_pos")){ + startUdpPos(state,cmd2); + }else if (!strcmp(cmd,"udp_spd")){ + startUdpSpd(state,cmd2); + + } + #endif + } } -- 2.39.2