int pwm_pulse_test( )
{
int LoopCtrl;
int trip_code=0;
int command;
double ref_in0;
IER &= ~M_INT3; // debug for PWM
InitEPwm_ACIM_Inverter(); // debug
EPwm1Regs.ETSEL.bit.INTEN = 1; // Enable INT
IER |= M_INT3; // debug for PWM
strncpy(MonitorMsg," INIT MOTOR RUN ",20);
LoopCtrl = 1;
test_pulse_count = 0;
gMachineState = STATE_RUN;
EPwm_ISC_Enable();
while(LoopCtrl == 1)
{
trip_code = trip_check();
if( trip_code !=0 ){
LoopCtrl = 0;
}
else if( test_pulse_count >= code_set_pulse_number){
LoopCtrl = 0;
}
else{
monitor_proc();
get_command( & command, & ref_in0); // Command를 입력 받음
if( command == CMD_STOP){
gMachineState = STATE_READY;
LoopCtrl = 0;
}
}
}
EPwm_CONVT_Disable();
LoopCtrl=1;
while(LoopCtrl == 1)
{
trip_code = trip_check();
if( trip_code !=0 ){
LoopCtrl = 0;
}
else{
monitor_proc();
get_command( & command, & ref_in0); // Command를 입력 받음
if( command != CMD_START){
gMachineState = STATE_READY;
LoopCtrl = 0;
}
}
}
return trip_code;
}
int main(int argc, char *argv[]) {
if (argc > 1) {
if (strcmp(argv[1], "--daemon") == 0)
run_as_daemon();
else {
fprintf(stderr, "%s (with no options)\n\tRun magiskhide and output to stdout\n", argv[0]);
fprintf(stderr, "%s --daemon\n\tRun magiskhide as daemon, output to magisk.log\n", argv[0]);
return 1;
}
} else
logfile = stdout;
// Handle all killing signals
signal(SIGINT, terminate);
signal(SIGTERM, terminate);
// Fork a child to handle namespace switches and unmounts
pipe(pipefd);
switch(fork()) {
case -1:
exit(-1);
case 0:
return hideMagisk();
default:
break;
}
close(pipefd[0]);
// Start a thread to constantly check the hide list
pthread_mutex_init(&mutex, NULL);
pthread_create(&list_monitor, NULL, monitor_list, HIDELIST);
// Set main process to the top priority
setpriority(PRIO_PROCESS, 0, -20);
monitor_proc();
terminate(0);
fprintf(logfile, "MagiskHide: Cannot monitor am_proc_start, abort...\n");
fclose(logfile);
return 1;
}
int test_run()
{
int LoopCtrl;
int iTripCode=0;
int iCommand;
double fReference;
// common_variable_init();
iTripCode = HardwareParameterVerification();
if( iTripCode !=0 ) return iTripCode;
iTripCode = SL_SPEED_CNTL_Parameter();
if( iTripCode != 0)
return iTripCode; // debug
IER &= ~M_INT3; // debug for PWM
InitEPwm_ACIM_Inverter(); // debug
EPwm1Regs.ETSEL.bit.INTEN = 1; // Enable INT
IER |= M_INT3; // debug for PWM
VariInit();
gRunFlag =1;
strncpy(MonitorMsg," INIT MOTOR RUN ",20);
gfRunTime = 0.0;
LoopCtrl = 1;
reference_in = code_btn_start_ref;
// gMachineState = STATE_INIT_RUN;
gMachineState = STATE_RUN;
reference_out = 0.0;
while(LoopCtrl == 1)
{
if(gPWMTripCode != 0){iTripCode = gPWMTripCode; LoopCtrl = 0;}
iTripCode = trip_check();
if(iTripCode != 0) LoopCtrl = 0;
else{
get_command(&iCommand,&fReference); // Command를 입력 받음
monitor_proc();
if( iCommand == CMD_START) reference_in = fReference;
else if( iCommand == CMD_STOP) reference_in = 0.0;
switch( gMachineState )
{
/*
case STATE_INIT_RUN:
// STOP 신호에는 즉각 반응을 해야 한다.
if( iCommand == CMD_STOP){
LoopCtrl= 0;
// INVERTER_RUN_CLEAR; // debug 브레이크 개방
}
else if( gfRunTime < 0.2 ){
Freq_ref=0.0; wr_ref=0.0; rpm_ref=0.0;
reference_out = 0.0;
}
else{
strncpy(MonitorMsg," INVERTER RUN ",20);
gMachineState = STATE_RUN;
}
break;
*/
case STATE_RUN:
if ( iCommand == CMD_NULL ) ramp_proc( reference_in, &reference_out);
else if(( iCommand == CMD_SPEED_UP ) && (reference_in < 1.0 )) reference_in += 0.01;
else if(( iCommand == CMD_SPEED_DOWN ) && ( reference_in > 0.01 )) reference_in -= 0.01;
else if( iCommand == CMD_STOP ) {
//"01234567890123456789"
strncpy(MonitorMsg," INV GO STOP ",20);
reference_in = 0.0; gMachineState = STATE_GO_STOP;
}
else if( iCommand == CMD_START ) ramp_proc( reference_in, &reference_out);
else{
reference_in = 0.0; gMachineState = STATE_GO_STOP;
}
break;
case STATE_GO_STOP:
//---- 재 시동
if( iCommand == CMD_START ) {
//"01234567890123456789"
strncpy(MonitorMsg," INVERTER RUN ",20);
gMachineState = STATE_RUN;
reference_in = fReference;
}
else if( fabs( reference_out ) < 0.01 ){
strncpy(MonitorMsg," INVERTER READY ",20);
gMachineState = STATE_READY;
LoopCtrl =0;
}
else{
reference_in = 0.0;
ramp_proc(reference_in, &reference_out);
}
break;
}
}
}
return iTripCode;
}
int main(int argc, char * argv[])
{
Init(argc, argv);
char logfile[512] = {0};
int procIndex = 0;
int ret = 0;
ret = fork();
if(ret == 0 )
{
procIndex = 1;
}
else if( ret < 0 )
{
printf("fork fail \n");
return 0;
}
else
{
procIndex = 0;
}
sprintf(logfile, "%s_%d_", g_config.sLogFilePath.c_str(), procIndex);
g_config.myLog.Log_Init(logfile, g_config.iMaxLogSize, g_config.iMaxLogNum, 0);
if(procIndex == 0)
{
// main proc . monitor child proc
ret = monitor_proc();
if(ret < 0)
{
printf("monitor_proc fail !!!!!!!!\n");
return 0;
}
}
ProxySvr server;
mq_init_info minfo[3];
minfo[0].context = NULL;
minfo[0].socket = NULL;
snprintf(minfo[0].ip, sizeof(minfo[0].ip), "%s", g_config.sPullIp.c_str();
minfo[0].port = g_config.nPullPort;
minfo[0].role = ROLE_Server;
minfo[0].type = ZMQ_PULL;
minfo[0].name = ProxySvr::PULL_FROM_STATCLIENT;
minfo[1].context = NULL;
minfo[1].socket = NULL;
snprintf(minfo[1].ip, sizeof(minfo[1].ip), "%s", g_config.sPubIp.c_str();
minfo[1].port = g_config.nPubPort;
minfo[1].role = ROLE_Server;
minfo[1].type = ZMQ_PUB;
minfo[1].name = ProxySvr::PUB_TO_STATCENTER;
minfo[2].context = NULL;
minfo[2].socket = NULL;
snprintf(minfo[2].ip, sizeof(minfo[2].ip), "%s", g_config.sRespIp.c_str();
minfo[2].port = g_config.nRespPort;
minfo[2].role = ROLE_Server;
minfo[2].type = ZMQ_REP;
minfo[2].name = ProxySvr::RESP_TO_OTHER;
minfo[3].context = NULL;
minfo[3].socket = NULL;
snprintf(minfo[3].ip, sizeof(minfo[3].ip), "%s", g_config.sMasterIp.c_str();
minfo[3].port = g_config.nMasterPort;
minfo[3].role = ROLE_Client;
minfo[3].type = ZMQ_REP;
minfo[3].name = ProxySvr::REQ_AS_CLIENT;
server.init(minfo , sizeof(minfo)/sizeof(minfo[0]), g_config.iLoopInterMsec);
server.loop();
return 0;
}
int hyd_unit_loop_proc()
{
int LoopCtrl;
int iTripCode=0;
int cmd;
double fReference;
VariableInitialization();
iTripCode = HardwareParameterVerification();
if( iTripCode !=0 ) return iTripCode;
iTripCode = SL_SPEED_CNTL_Parameter(); // csk_debug
if( iTripCode != 0) return iTripCode; // csk_debug
IER &= ~M_INT3; // debug for PWM
InitEPwm_ACIM_Inverter(); // debug
EPwm1Regs.ETSEL.bit.INTEN = 1; // Enable INT
IER |= M_INT3; // debug for PWM
gRunFlag =1;
strncpy(MonitorMsg," INIT MOTOR RUN ",20);
gfRunTime = 0.0;
LoopCtrl = 1;
reference_in = btn_start_ref;
gMachineState = STATE_RUN;
while(LoopCtrl == 1)
{
if(gPWMTripCode != 0){
iTripCode = gPWMTripCode;
LoopCtrl = 0;
break;
}
get_command(& cmd ,&fReference); // Command를 입력 받음
monitor_proc();
if( cmd == CMD_START) reference_in = fReference;
else if( cmd == CMD_STOP) reference_in = 0.0;
switch( gMachineState )
{
case STATE_RUN:
if( cmd == CMD_STOP ){
strncpy(MonitorMsg," INV GO STOP ",20);
reference_in = 0.0; gMachineState = STATE_GO_STOP;
}
else{
// if( gfRunTime < 0.25 ) reference_out = 0.05; // debug
// else hyd_unit_proc( gMachineState, & reference_out);
hyd_unit_proc( gMachineState, & reference_out);
}
case STATE_GO_STOP:
//---- 재 시동
if( cmd == CMD_START ) {
//"01234567890123456789"
strncpy(MonitorMsg," INVERTER RUN ",20);
gMachineState = STATE_RUN;
hyd_unit_proc( gMachineState, & reference_out);
}
else if( fabs( reference_out ) < 0.005 ){
strncpy(MonitorMsg," INVERTER READY ",20);
gMachineState = STATE_READY;
LoopCtrl =0;
}
else{ // debug
hyd_unit_proc( gMachineState, & reference_out);
}
break;
}
}
return iTripCode;
}
int test_run()
{
int LoopCtrl;
int iTripCode=0;
int iCommand;
double fReference;
VariableInitialization();
iTripCode = HardwareParameterVerification();
if( iTripCode !=0 ) return iTripCode;
iTripCode = SL_SPEED_CNTL_Parameter();
if( iTripCode != 0)
return iTripCode; // debug
IER &= ~M_INT3; // debug for PWM
InitEPwm_ACIM_Inverter(); // debug
EPwm1Regs.ETSEL.bit.INTEN = 1; // Enable INT
IER |= M_INT3; // debug for PWM
gRunFlag =1;
strncpy(MonitorMsg," INIT MOTOR RUN ",20);
gfRunTime = 0.0;
LoopCtrl = 1;
reference_in = btn_start_ref;
gMachineState = STATE_RUN;
while(LoopCtrl == 1)
{
if(gPWMTripCode != 0){
iTripCode = gPWMTripCode;
LoopCtrl = 0;
break;
}
get_command(&iCommand,&fReference); // Command를 입력 받음
monitor_proc();
if( iCommand == CMD_START) reference_in = fReference;
else if( iCommand == CMD_STOP) reference_in = 0.0;
switch( gMachineState )
{
case STATE_RUN:
if ( iCommand == CMD_NULL ) ramp_proc( reference_in, &reference_out);
else if(( iCommand == CMD_SPEED_UP ) && (reference_in < 1.0 )) reference_in += 0.01;
else if(( iCommand == CMD_SPEED_DOWN ) && ( reference_in > 0.01 )) reference_in -= 0.01;
else if( iCommand == CMD_STOP ) {
//"01234567890123456789"
strncpy(MonitorMsg," INV GO STOP ",20);
reference_in = 0.0; gMachineState = STATE_GO_STOP;
}
else if( iCommand == CMD_START ) ramp_proc( reference_in, &reference_out);
else{
reference_in = 0.0; gMachineState = STATE_GO_STOP;
}
break;
case STATE_GO_STOP:
//---- 재 시동
if( iCommand == CMD_START ) {
//"01234567890123456789"
strncpy(MonitorMsg," INVERTER RUN ",20);
gMachineState = STATE_RUN;
reference_in = fReference;
}
else if( fabs( reference_out ) < 0.01 ){
strncpy(MonitorMsg," INVERTER READY ",20);
gMachineState = STATE_READY;
LoopCtrl =0;
}
else{
reference_in = 0.0;
ramp_proc(reference_in, &reference_out);
}
break;
}
}
return iTripCode;
}
