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| author | Shlomo Hecht <shlomo@twine-s.com> | 2020-06-18 17:27:56 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2020-06-18 17:27:56 +0300 |
| commit | 5d9f09e5beeb61671ab1a68b021ec6da62bc3042 (patch) | |
| tree | 7c7a01dd80cfb87d6b39df2cbe9eb434d163fdff /Software/Embedded_SW/Embedded/Modules/Thread | |
| parent | 121128fd6cf5bec4e20b9f67f0a4ea20b4174cf3 (diff) | |
| download | Tango-5d9f09e5beeb61671ab1a68b021ec6da62bc3042.tar.gz Tango-5d9f09e5beeb61671ab1a68b021ec6da62bc3042.zip | |
Version 1.4.6.32; enable variating control timing for thread. fix WHS pid
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 27 |
1 files changed, 26 insertions, 1 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 72b0439ad..e7a333cc2 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -58,6 +58,10 @@ uint32_t JobCounter = 0; MotorControlConfig_t MotorControlConfig[MAX_THREAD_MOTORS_NUM]; uint32_t DeviceId2Motor[MAX_THREAD_MOTORS_NUM]; +int MotorTiming[MAX_THREAD_MOTORS_NUM]; +int MotorTimer[MAX_THREAD_MOTORS_NUM]; + + uint32_t PreviousPosition = 0, CurrentPosition = 0; double CurrentRequestedLength = 0.0; double CurrentProcessedLength = 0.0; @@ -506,6 +510,18 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) } index = IfIndex&0xFF; + if (MotorTiming[index]>1) + { + MotorTimer[index]++; + if (MotorTimer[index]>=MotorTiming[index]) + { + MotorTimer[index]=0; + } + else + { + return OK; + } + } if(MotorControlConfig[index].m_isEnabled ) { //if (MotorDriverResponse[ThreadMotorIdToMotorId[index]].Busy == true) @@ -874,6 +890,7 @@ uint32_t ThreadPrepare_TensionCallback (int DancerId, double tension) ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback Prepare Ready",__FILE__,__LINE__,DancerId,RpWarning,PrepareWaitCount,0); PrepareReady(Module_Thread,ModuleDone); } + return OK; } uint32_t ThreadPrepare_Tension (int DancerId, double tension) { @@ -936,7 +953,7 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension) JobTicket* JobTicket = JobDetails; uint32_t status = OK; CurrentSegmentId = 0; - + float temp_dt = 0; JobCounter = 0; TotalProcessedLength = 0.0; PoolerTotalProcessedLength = 0.0; @@ -1035,6 +1052,14 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension) MotorControlConfig[Motor_i].m_mesuredParam = 0; MotorControlConfig[Motor_i].m_preError = 0; MotorControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage + + temp_dt = MotorControlConfig[Motor_i].m_params.dt/0.001; + MotorTiming[Motor_i] = (int)temp_dt; + if (MotorTiming[Motor_i]) + { + MotorTimer[Motor_i] = MotorTiming[Motor_i]-1; + ReportWithPackageFilter(ThreadFilter,"MotorTiming",__FILE__,Motor_i,MotorTiming[Motor_i],RpWarning,MotorTimer[Motor_i],0); + } ////////////////////////////////////////////////// for (i = 0;i < (int)MotorsControl[Motor_i].pvinputfilterfactormode; i++) { |