aboutsummaryrefslogtreecommitdiffstats
path: root/Software/Visual_Studio/Scripting/Tango.Scripting/app.config
blob: 38ef7154241db9c282becf686b97d4d5c8343015 (plain) 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83

<?xml version="1.0" encoding="utf-8"?>
<configuration>

  <runtime>

    <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">

      <dependentAssembly>

        <assemblyIdentity name="System.Security.Cryptography.Algorithms" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />

        <bindingRedirect oldVersion="0.0.0.0-4.1.0.0" newVersion="4.1.0.0" />

      </dependentAssembly>

      <dependentAssembly>

        <assemblyIdentity name="System.IO.FileSystem" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />

        <bindingRedirect oldVersion="0.0.0.0-4.0.2.0" newVersion="4.0.2.0" />

      </dependentAssembly>

      <dependentAssembly>

        <assemblyIdentity name="System.IO.Compression" publicKeyToken="b77a5c561934e089" culture="neutral" />

        <bindingRedirect oldVersion="0.0.0.0-4.1.2.0" newVersion="4.1.2.0" />

      </dependentAssembly>

      <dependentAssembly>

        <assemblyIdentity name="System.IO.FileSystem.Primitives" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />

        <bindingRedirect oldVersion="0.0.0.0-4.0.2.0" newVersion="4.0.2.0" />

      </dependentAssembly>

      <dependentAssembly>

        <assemblyIdentity name="System.Security.Cryptography.Primitives" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />

        <bindingRedirect oldVersion="0.0.0.0-4.0.1.0" newVersion="4.0.1.0" />

      </dependentAssembly>

      <dependentAssembly>

        <assemblyIdentity name="System.Xml.XPath.XDocument" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />

        <bindingRedirect oldVersion="0.0.0.0-4.0.2.0" newVersion="4.0.2.0" />

      </dependentAssembly>

      <dependentAssembly>

        <assemblyIdentity name="System.Console" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />

        <bindingRedirect oldVersion="0.0.0.0-4.0.1.0" newVersion="4.0.1.0" />

      </dependentAssembly>

      <dependentAssembly>

        <assemblyIdentity name="System.Diagnostics.StackTrace" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />

        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0" />

      </dependentAssembly>

      <dependentAssembly>

        <assemblyIdentity name="System.Collections.Immutable" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />

        <bindingRedirect oldVersion="0.0.0.0-1.2.1.0" newVersion="1.2.1.0" />

      </dependentAssembly>

    </assemblyBinding>

  </runtime>
</configuration>
generated by cgit v1.3.1 (git 2.54.0) at 2026-07-12 09:20:09 +0000
pan class="p">] = {0}; int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0}; int MotorSamplePointer[MAX_THREAD_MOTORS_NUM] = {0}; double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM] = {0}; int DancerStopActivityLimit[MAX_THREAD_MOTORS_NUM] = {0}; HardwareDancer DancersCfg[MAX_SYSTEM_DANCERS] = {0}; bool BreakSensorenabled; int32_t BreakSensordebouncetimemilli; HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_PID_CONTROL_TYPE__MotorFeeder,HARDWARE_PID_CONTROL_TYPE__MotorDryer,HARDWARE_PID_CONTROL_TYPE__MotorPooler,HARDWARE_PID_CONTROL_TYPE__MotorWinder,0}; //******************************************************************************************************************** uint32_t MotorsConfigMessage(HardwareMotor * request) { uint32_t status = PASSED; TimerMotors_t Motor_i; Motor_i = request->hardwaremotortype; MotorsCfg[Motor_i].configword = request->configword; MotorsCfg[Motor_i].hardwaremotortype = request->hardwaremotortype; MotorsCfg[Motor_i].minfrequency = request->minfrequency; MotorsCfg[Motor_i].maxfrequency = request->maxfrequency; MotorsCfg[Motor_i].setmicrostep = request->setmicrostep; MotorsCfg[Motor_i].microstep = request->microstep; MotorsCfg[Motor_i].maxchangeslope = request->maxchangeslope; MotorsCfg[Motor_i].highlengthmicrosecond = request->highlengthmicrosecond; MotorsCfg[Motor_i].speedmaster = request->speedmaster; MotorsCfg[Motor_i].pulseperround = request->pulseperround; MotorsCfg[Motor_i].pulleyradius = request->pulleyradius; MotorsCfg[Motor_i].configword = request->configword; MotorsCfg[Motor_i].directionthreadwize = request->directionthreadwize; MotorsCfg[Motor_i].kvalhold = request->kvalhold; MotorsCfg[Motor_i].kvalrun = request->kvalrun; MotorsCfg[Motor_i].kvalacc = request->kvalacc; MotorsCfg[Motor_i].kvaldec = request->kvaldec; MotorsCfg[Motor_i].overcurrentthreshold = request->overcurrentthreshold; MotorsCfg[Motor_i].stallthreshold = request->stallthreshold; MotorsCfg[Motor_i].thermalcompensationfactor = request->thermalcompensationfactor; MotorsCfg[Motor_i].lowspeedoptimization = request->lowspeedoptimization; MotorsCfg[Motor_i].stslp = request->stslp; MotorsCfg[Motor_i].intspd = request->intspd; MotorsCfg[Motor_i].fnslpacc = request->fnslpacc; MotorsCfg[Motor_i].fnslpdec = request->fnslpdec; MotorsCfg[Motor_i].fsspd = request->fsspd; status = MotorConfig( Motor_i, &MotorsCfg[Motor_i]); // if (Motor_i == MOTOR_RDRIVING) // ThreadInitialTestStub(request); return status; // } // else return Motor_i; } uint32_t MotorPidRequestMessage(HardwarePidControl* request) { int Motor_i,i; int temp; for (i=0;i<MAX_THREAD_MOTORS_NUM;i++) { if (ThreadMotorIdToControlId[i] == request->hardwarepidcontroltype) { Motor_i = i; break; } } memcpy (&MotorsControl[Motor_i],request,sizeof(HardwarePidControl)); if (MotorsControl[Motor_i].pvinputfilterfactormode > MAX_CONTROL_SAMPLES) MotorsControl[Motor_i].pvinputfilterfactormode = MAX_CONTROL_SAMPLES; for (i = 0;i < MotorsControl[Motor_i].pvinputfilterfactormode; i++) MotorSamples[Motor_i][i] = 0; //reset the samples value for control beginning NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits); temp=(10*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm); NormalizedErrorCoEfficient[Motor_i] = NormalizedErrorCoEfficient[Motor_i] / temp; // uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES]; temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits); temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm*2); DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); return OK; } uint32_t DancerConfigMessage(HardwareDancer * request) { uint32_t status = PASSED; int Dancer_i; Dancer_i = request->hardwaredancertype; if (Dancer_i<MAX_SYSTEM_DANCERS ) { memcpy (&DancersCfg[Dancer_i],request,sizeof(HardwareDancer)); return status; } else return Dancer_i; } uint32_t ThreadConfigBreakSensor(void *request) { HardwareBreakSensor *SensorCfg = (HardwareBreakSensor*)request; if (SensorCfg) { BreakSensorenabled = SensorCfg->enabled; BreakSensordebouncetimemilli = SensorCfg->debouncetimemilli; return OK; } return ERROR; } uint32_t thread_init(void) { //memset (MotorsCfg,0,sizeof(MotorsCfg)); //memset (&InternalWinderCfg,0,sizeof(InternalWinderConfigStruc)); return OK; }
generated by cgit v1.3.1 (git 2.54.0) at 2026-07-12 09:20:09 +0000