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| author | Shlomo Hecht <shlomo@twine-s.com> | 2019-05-05 10:31:06 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2019-05-05 10:31:06 +0300 |
| commit | 79bd7bb6a22f1da1a77fcc3f527a0955028f2447 (patch) | |
| tree | 3e1c30dbbf7b6ccf70aa5631ad2f42ee356b4e25 /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | 4129b6caa72f8bafeeefe1a4a88a0d5e1568e245 (diff) | |
| parent | 661c55343a468a9c150e8d163711567f89a02889 (diff) | |
| download | Tango-79bd7bb6a22f1da1a77fcc3f527a0955028f2447.tar.gz Tango-79bd7bb6a22f1da1a77fcc3f527a0955028f2447.zip | |
merge tpf
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 9 |
1 files changed, 7 insertions, 2 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index a1e91f6fc..4454565c1 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -2,6 +2,7 @@ **************************************************************************************************************************/ #include <DataDef.h> +#include <Drivers/FPGA/Motors_Driver/PowerSTEP01.h> #include "include.h" #include "PMR/Hardware/UploadHardWareConfigurationRequest.pb-c.h" @@ -17,12 +18,13 @@ #include "drivers/Flash_Memory/fatfs/ff.h" #include "drivers/SSI_Comm/Dancer/Dancer.h" -#include "drivers/FPGA/Moters_Driver/PowerSTEP01.h" - #include "thread.h" MotorDriverConfigStruc MotorsCfg[NUM_OF_MOTORS]={0}; HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM] = {0}; +int32_t MotorSpeedSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0}; +int MotorSpeedSamplePointer[MAX_THREAD_MOTORS_NUM] = {0}; + int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0}; int MotorSamplePointer[MAX_THREAD_MOTORS_NUM] = {0}; double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM] = {0}; @@ -105,7 +107,10 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) MotorsControl[Motor_i].pvinputfilterfactormode = 10; //test longer control #endif for (i = 0;i < MotorsControl[Motor_i].pvinputfilterfactormode; i++) + { MotorSamples[Motor_i][i] = 0; //reset the samples value for control beginning + MotorSpeedSamples[Motor_i][i] = 0; + } NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits); temp=(10*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm); |