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 | 22 |
1 files changed, 10 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 e7336cc9d..25f322b2e 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -337,7 +337,7 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue) }**/ //} -#ifdef FOUR_WINDERS +#ifdef BTSR_NO_TFU if (CurrentControlledSpeed[WINDER_MOTOR]>100) length = dyeingspeed/10; #endif @@ -560,7 +560,6 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) //extern int MotorSamplePointer[MAX_THREAD_MOTORS_NUM]; //read value is the dancer angle int i,index=MAX_THREAD_MOTORS_NUM; - int len; int DancerId; int32_t TranslatedReadValue, avreageSampleValue = 0;//,avreageMotorSampleValue = 0; //double tempcalcspeed = 0; @@ -747,7 +746,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) if (index >= WINDER_MOTOR) { // FirstCalcInJob = false; - len = usnprintf(ATMessage[index], 150, "index %d read %d avg %d error(6) %d integral(9) %d,delta(9) %d, calc(3) %d speed %d %d",index-WINDER_MOTOR+1, + usnprintf(ATMessage[index], 150, "index %d read %d avg %d error(6) %d integral(9) %d,delta(9) %d, calc(3) %d speed %d %d",index-WINDER_MOTOR+1, TranslatedReadValue,avreageSampleValue,(int)(MotorControlConfig[index].m_mesuredParam*1000000), (int)(MotorControlConfig[index].m_integral*1000000000),(int)((MotorControlConfig[index].m_mesuredParam*MotorControlConfig[index].m_params.dt)*1000000000), (int)(MotorControlConfig[index].m_calculatedError*1000),(int)calculated_speed, (int)(InitialDryerSpeed*100/OriginalMotorSpd_2PPS[DRYER_MOTOR])); @@ -784,7 +783,6 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) ReportWithPackageFilter(ThreadFilter,"MotorSpeedUpdated",__FILE__,index,(int)OriginalMotorSpd_2PPS[index],RpWarning,(int)CurrentControlledSpeed[index],0); }*/ #ifdef TEST_PID_THREAD - int len; if ((JobCounter % 2000) == index*100) //if (keepdata == true) { @@ -796,7 +794,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) NormError[controlIndex] = MotorControlConfig[index].m_mesuredParam; mIntegral[controlIndex] = MotorControlConfig[index].m_integral; timestamp[controlIndex] = msec_millisecondCounter;*/ - len = usnprintf(TMessage, 150, "read %d avg %d error(6) %d integral(9) %d,delta(9) %d, calc(3) %d speed %d", + usnprintf(TMessage, 150, "read %d avg %d error(6) %d integral(9) %d,delta(9) %d, calc(3) %d speed %d", ReadValue,avreageSampleValue,(int)(MotorControlConfig[index].m_mesuredParam*1000000), (int)(MotorControlConfig[index].m_integral*1000000000),(int)((MotorControlConfig[index].m_mesuredParam*MotorControlConfig[index].m_params.dt)*1000000000), (int)(MotorControlConfig[index].m_calculatedError*1000),(int)calculated_speed); @@ -916,7 +914,7 @@ uint32_t Release_Right_TFU_TensionCallback(uint32_t deviceID, uint32_t BusyFlag) uint32_t Release_Right_TFU_Tension() { uint32_t status = OK; -#ifndef FOUR_WINDERS +#ifndef BTSR_NO_TFU if (RTFU_Up == true) { Report("Release_Right_TFU_Tension",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_RDANCER,RpMessage,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].pulseperround/4,0); @@ -930,7 +928,7 @@ int SecondFeederCorrection = 4; int PrepareWaitCount = 0; uint32_t Adjust_Right_TFU_Tension_2nd_Callback(uint32_t MotorId, uint32_t ReadValue) { -#ifndef FOUR_WINDERS +#ifndef BTSR_NO_TFU MotorStop (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,Soft_Stop); //per L6470 errata between mov and run commands Report("Adjust_Right_TFU_Tension_2ndCallback x more steps",__FILE__,__LINE__,MotorId,RpMessage,SecondFeederCorrection,0); if (JobIsActive()==false) @@ -954,7 +952,7 @@ uint32_t Adjust_Right_TFU_Tension_2nd_Callback(uint32_t MotorId, uint32_t ReadVa } uint32_t Adjust_Right_TFU_Tension_Callback(uint32_t MotorId, uint32_t ReadValue) { -#ifndef FOUR_WINDERS +#ifndef BTSR_NO_TFU Report("Adjust_Right_TFU_Tension_Callback",__FILE__,__LINE__,MotorId,RpMessage,0,0); MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize,SecondFeederCorrection* MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].microstep, Adjust_Right_TFU_Tension_2nd_Callback,1000); RTFU_Up = true; @@ -965,7 +963,7 @@ uint32_t Adjust_Right_TFU_Tension_Callback(uint32_t MotorId, uint32_t ReadValue) uint32_t Adjust_Right_TFU_Tension(double tension) { uint32_t status = OK; -#ifndef FOUR_WINDERS +#ifndef BTSR_NO_TFU if (tension > 0.5) //0 = lower position, 1 = high position { if (FPGA_Read_limit_Switches(GPI_LS_RDANCER_UP) == NO_LIMIT) @@ -1092,7 +1090,7 @@ uint32_t ThreadPrepareState(void *JobDetails) IntersegmentLength = JobTicket->intersegmentlength; PrepareWaitCount = 0; -#ifndef FOUR_WINDERS +#ifndef BTSR_NO_TFU status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__LeftDancer, windertension); ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Winder",__FILE__,HARDWARE_DANCER_TYPE__LeftDancer,PrepareWaitCount,RpWarning,(int)windertension,0); status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__MiddleDancer, pullertension); @@ -1214,7 +1212,7 @@ uint32_t ThreadPrepareState(void *JobDetails) ///////////////////////////////////////////////////// MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize); -#ifndef FOUR_WINDERS +#ifndef BTSR_NO_TFU if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled { ReportWithPackageFilter(ThreadFilter,"Feeder Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0); @@ -1241,7 +1239,7 @@ uint32_t ThreadPrepareState(void *JobDetails) PoolerLengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep); PoolerSpeedControlId = AddControlCallback(NULL,PoolerThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); } -#ifndef FOUR_WINDERS +#ifndef BTSR_NO_TFU if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled { if (ControlIdtoMotorId[Motor_i] != 0xFF) |