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 | 26 |
1 files changed, 15 insertions, 11 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 25485290b..a285d4194 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -39,7 +39,7 @@ //by recieved esign flow of the user from the UI /////////////////////////////////////////////////////////////////////////////////////////// -uint32_t CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM] = {0}; +double CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM] = {0}; TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,HARDWARE_MOTOR_TYPE__MOTO_SCREW}; HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS}; @@ -48,7 +48,7 @@ uint32_t SpeedControlId=0xFF; uint32_t PoolerSpeedControlId=0xFF; double DancerError[NUM_OF_DANCERS] = {0.0}; -int OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM] = {0}; +double OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM] = {0}; uint32_t JobCounter = 0; MotorControlConfig_t MotorControlConfig[MAX_THREAD_MOTORS_NUM]; @@ -186,6 +186,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue) usnprintf(Lenstr, 100, "length huge: length %d, diff 0x%x, pos 0x%x prev 0x%x",(int)length*100,(int)positionDiff,PreviousPosition,prevprev); SendJobProgress(0.0,0,false, Lenstr); Report(Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0); + length = 0; } @@ -275,7 +276,7 @@ uint32_t ThreadSpeedControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) int index=MAX_THREAD_MOTORS_NUM; int32_t i, avreageSampleValue = 0; //double tempcalcspeed = 0; - uint32_t calculated_speed; + double calculated_speed; float speed = getSensorSpeedData(); if (IfIndex>>8 != IfTypeThread) { @@ -297,7 +298,7 @@ uint32_t ThreadSpeedControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) &MotorControlConfig[index].m_params, &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral); //SetMotorFreq (index, MotorControlConfig[index].m_calculatedError); calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index]; - if (abs(calculated_speed-CurrentControlledSpeed[index])>2) + if (fabs(calculated_speed-CurrentControlledSpeed[index])>2) { CurrentControlledSpeed[index] = calculated_speed; MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed); @@ -305,7 +306,7 @@ uint32_t ThreadSpeedControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) } return OK; } -uint32_t _speed; +float _speed; uint32_t ThreadControlSpeedReadFunction(uint32_t IfIndex, uint32_t ReadValue) { int index; @@ -393,7 +394,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) int DancerId; int32_t TranslatedReadValue, avreageSampleValue = 0,avreageMotorSampleValue = 0; //double tempcalcspeed = 0; - uint32_t calculated_speed; + double calculated_speed; double NormalizedError; if (ThreadControlActive == false) @@ -551,17 +552,17 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index]; //calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*CurrentControlledSpeed[index]; #ifndef TEST_PID_THREAD - if (abs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue) + if (fabs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue) #else if (index == FEEDER_MOTOR) //feeder unit handles errors opposite to left unit #endif { CurrentControlledSpeed[index] = calculated_speed; MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed); - if (((JobCounter % 2000) == index*100)&&(index == WINDER_MOTOR)) //feeder unit handles errors opposite to left unit + /*if (((JobCounter % 2000) == index*100)&&(index == WINDER_MOTOR)) //feeder unit handles errors opposite to left unit { - Report("MotorSpeedUpdated",__FILE__,index,OriginalMotorSpd_2PPS[index],RpWarning,CurrentControlledSpeed[index],0); - } + Report("MotorSpeedUpdated",__FILE__,index,(int)OriginalMotorSpd_2PPS[index],RpWarning,(int)CurrentControlledSpeed[index],0); + }*/ #ifdef TEST_PID_THREAD int len; if ((JobCounter % 2000) == index*100) @@ -587,7 +588,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) #endif } else + { MotorFailedSample[index]++; + //LOG_ERROR(index,"No change in speed"); + } } @@ -595,7 +599,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) } //******************************************************************************************************************** -uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId) +double ThreadGetMotorSpeed(threadMotorsEnum MotorId) { return CurrentControlledSpeed[MotorId]; } |