diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 34 |
1 files changed, 22 insertions, 12 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index f5462e398..fafc43fb5 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -15,6 +15,8 @@ #include "PMR/Printing/JobSegment.pb-c.h" #include "PMR/Printing/JobTicket.pb-c.h" +#include <utils/ustdlib.h> + #include "StateMachines/Printing/PrintingSTM.h" #include "drivers/Motors/Motor.h" @@ -178,7 +180,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue) pooler_counter++; if (pooler_counter%10 == 0) { - SendJobProgress(CurrentProcessedLength/CurrentRequestedLength,CurrentSegmentId,false); + SendJobProgress(CurrentProcessedLength/CurrentRequestedLength,CurrentSegmentId,false, "Progress"); //SendJobProgress(/*KeepNormalizedError*/MotorControlConfig[index].m_calculatedError,CurrentSegmentId,false); } @@ -259,6 +261,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) int32_t TranslatedReadValue, avreageSampleValue = 0; uint32_t calculated_speed; double NormalizedError; + char Message[60]; + if (IfIndex>>8 != IfTypeThread) { LOG_ERROR (IfIndex, "Wrong Interface type"); @@ -293,7 +297,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) //TranslatedReadValue = 0;//test MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue); MotorSamplePointer[index]++; - if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode) MotorSamplePointer[index] = 0; + if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode) + MotorSamplePointer[index] = 0; for (i=0;i<MotorsControl[index].pvinputfilterfactormode;i++) avreageSampleValue += MotorSamples[index][i]; avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode; @@ -301,7 +306,9 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) if ((abs(avreageSampleValue)> DancerStopActivityLimit[index])&&(JobCounter > eOneSecond)) { - EndState(CurrentJob); + usnprintf(Message, 60, "Dancer % limit%d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint); + + EndState(CurrentJob,Message ); } NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index]; MotorControlConfig[index].m_mesuredParam = NormalizedError; @@ -472,7 +479,9 @@ uint32_t ThreadPreSegmentState(void *JobDetails) //set the speed only before the first segment, speed is constant accros job JobTicket* JobTicket = JobDetails; - float process_speed = JobTicket->processparameters->dyeingspeed; + float process_speed; + if (JobTicket->processparameters) + process_speed= JobTicket->processparameters->dyeingspeed; SetOriginMotorSpeed(process_speed); //ControlStart(); @@ -483,14 +492,14 @@ uint32_t ThreadPreSegmentState(void *JobDetails) //only for testing - when control works, these motors will take their speed from the dryer //MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING, OriginalMotorSpd_2PPS[FEEDER_MOTOR]); -//#warning rocker disabled - if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].has_directionthreadwize) - MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize); - MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 5); - if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].has_directionthreadwize) - MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize); - MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 5); -//#warning rocker disabled +#warning rocker disabled +// if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].has_directionthreadwize) +// MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize); +// MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 5); +// if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].has_directionthreadwize) +// MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize); +// MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 5); +#warning rocker disabled // MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 0, GPI_LS_RLOADMOTOR_UP, EndState); //TODO @@ -506,6 +515,7 @@ uint32_t ThreadPreSegmentState(void *JobDetails) { ThreadUpdateProcessLength (0,(void *)NULL); PreSegmentReady(Module_Thread,ModuleDone); + JobCounter = 0; InitialProcess = false; } |