Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango

1 files changed, 12 insertions, 9 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index c48eec522..1cb854f87 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -305,7 +305,7 @@ uint32_t ThreadControlSpeedReadFunction(uint32_t IfIndex, uint32_t ReadValue)
 }
 //double eNormalizedError[100];
 //int    TranslatedreadValue[100];
-#define MAX_THREAD_CONTROL_LOG 100
+/*#define MAX_THREAD_CONTROL_LOG 100
 double calculatedError[MAX_THREAD_CONTROL_LOG+1];
 double NormError[MAX_THREAD_CONTROL_LOG+1];
 double mIntegral[MAX_THREAD_CONTROL_LOG+1];
@@ -313,7 +313,7 @@ int    MotorId[MAX_THREAD_CONTROL_LOG+1];
 int    readValue[MAX_THREAD_CONTROL_LOG+1];
 int    AveragereadValue[MAX_THREAD_CONTROL_LOG+1];
 int    calculatedspeed[MAX_THREAD_CONTROL_LOG+1];
-int    timestamp[MAX_THREAD_CONTROL_LOG+1];
+int    timestamp[MAX_THREAD_CONTROL_LOG+1];*/
 int controlIndex = 0;
 bool keepdata = true;
 /*int32_t KeepReadValue = 0;
@@ -342,7 +342,7 @@ void testDancersControl()
 }*/
 bool dancerinvalid = false;
 int MotorFailedSample[MAX_THREAD_MOTORS_NUM] = {0,0,0,0,0};
-char Message[60];
+char TMessage[60];
 uint16_t BreakSensorCounter = 0;
 uint16_t BreakSensorLatchCounter = 0;
 uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
@@ -358,7 +358,6 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     //double tempcalcspeed = 0;
     uint32_t calculated_speed;
     double NormalizedError;
-    char Message[60];
 
     if (ThreadControlActive == false)
         return OK;
@@ -403,6 +402,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         MotorSamplePointer[index]++;
         if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode)
             MotorSamplePointer[index] = 0;
+#ifdef TEST_LONGER_PID_THREAD
+        else // test: handle tension once in pvinputfilterfactormode milliseconds
+            return OK;
+#endif
         for (i=0;i<MotorsControl[index].pvinputfilterfactormode;i++)
             avreageSampleValue += MotorSamples[index][i];
         avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode;
@@ -447,13 +450,13 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         if ((abs(avreageSampleValue)> DancerStopActivityLimit[index])&&(JobCounter > eOneSecond))
         {
             keepdata = false;
-            usnprintf(Message, 60, "Dancer %d limit %d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint);
+            usnprintf(TMessage, 60, "Dancer %d limit %d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint);
             //JobAbortedByUser = true;
             ThreadControlActive = false;
             //MotorGetStatusFromFPGA(ThreadMotorIdToMotorId[index]);
             JobEndReason = JOB_WINDER_DANCER_FAIL+DancerId;
-            SendJobProgress(0.0,0,false, Message);
-            //EndState(CurrentJob,Message );
+            SendJobProgress(0.0,0,false, TMessage);
+            //EndState(CurrentJob,TMessage );
             SegmentReady(Module_Thread,ModuleFail);
             AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE,true);
             LOG_ERROR (DancerId, "Dancer Failure");
@@ -475,7 +478,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
         if (abs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
         {
-            if (keepdata == true)
+            /*if (keepdata == true)
             {
                  calculatedError[controlIndex] = MotorControlConfig[index].m_calculatedError;
                     MotorId[controlIndex] = index;
@@ -488,7 +491,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                     timestamp[controlIndex] = msec_millisecondCounter;
                  if (controlIndex++>=MAX_THREAD_CONTROL_LOG)
                      controlIndex = 0;
-            }
+            }*/
             CurrentControlledSpeed[index] = calculated_speed;
             MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
         }