From 2ec8afa4255b002db5cbcedaabfe2d2f0c924a16 Mon Sep 17 00:00:00 2001 From: zer0 Date: Wed, 5 May 2010 20:43:12 +0200 Subject: [PATCH] remove cpld debug --- projects/microb2010/cobboard/cs.c | 48 ++++++------------------------- 1 file changed, 9 insertions(+), 39 deletions(-) diff --git a/projects/microb2010/cobboard/cs.c b/projects/microb2010/cobboard/cs.c index 7eb186e..f8c7123 100644 --- a/projects/microb2010/cobboard/cs.c +++ b/projects/microb2010/cobboard/cs.c @@ -1,7 +1,7 @@ -/* +/* * Copyright Droids Corporation * Olivier Matz - * + * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or @@ -47,8 +47,6 @@ #include "actuator.h" #include "spickle.h" -#define DEBUG_CPLD - /* called every 5 ms */ static void do_cs(__attribute__((unused)) void *dummy) { @@ -56,11 +54,7 @@ static void do_cs(__attribute__((unused)) void *dummy) if (cobboard.flags & DO_ENCODERS) { encoders_spi_manage(NULL); } -#ifdef DEBUG_CPLD - cobboard.left_spickle.prev = cobboard.left_spickle.cs.filtered_feedback_value; - cobboard.right_spickle.prev = cobboard.right_spickle.cs.filtered_feedback_value; - cobboard.shovel.prev = cobboard.shovel.cs.filtered_feedback_value; -#endif + /* control system */ if (cobboard.flags & DO_CS) { if (cobboard.left_spickle.on) @@ -70,30 +64,6 @@ static void do_cs(__attribute__((unused)) void *dummy) if (cobboard.shovel.on) cs_manage(&cobboard.shovel.cs); } -#ifdef DEBUG_CPLD - { - extern int16_t g_encoders_spi_previous[4]; - int32_t ls, rs, sh; - - ls = (cobboard.left_spickle.prev - cobboard.left_spickle.cs.filtered_feedback_value); - rs = (cobboard.right_spickle.prev - cobboard.right_spickle.cs.filtered_feedback_value); - sh = (cobboard.shovel.prev - cobboard.shovel.cs.filtered_feedback_value); - if (ls < -3000 || ls > 3000 || - rs < -3000 || rs > 3000 || - sh < -3000 || sh > 3000) { - printf_P(PSTR("left_spickle %ld "), ls); - printf_P(PSTR("right_spickle %ld "), rs); - printf_P(PSTR("shovel %ld "), sh); - printf_P(PSTR("/ %d %d %d %d\r\n"), - g_encoders_spi_previous[0], - g_encoders_spi_previous[1], - g_encoders_spi_previous[2], - g_encoders_spi_previous[3]); - BRAKE_ON(); - while (1); - } - } -#endif if ((cobboard.flags & DO_BD) && (cobboard.flags & DO_POWER)) { bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs); @@ -102,12 +72,12 @@ static void do_cs(__attribute__((unused)) void *dummy) /* urgent case: stop power on blocking */ if (cobboard.flags & DO_ERRBLOCKING) { - if (/* bd_get(&cobboard.left_spickle.bd) || */ - /* bd_get(&cobboard.right_spickle.bd) || */ - bd_get(&cobboard.shovel.bd)) { - printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n")); - cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING); - } +/* if (bd_get(&cobboard.left_spickle.bd) || */ +/* bd_get(&cobboard.right_spickle.bd) || */ +/* bd_get(&cobboard.shovel.bd)) { */ +/* printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n")); */ +/* cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING); */ +/* } */ } } if (cobboard.flags & DO_POWER) -- 2.39.5