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add speed/current logging

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This commit is contained in:
Edward Emelianov
2026-09-08 22:44:24 +03:00
parent d2463f759b
commit 985a179b87
7 changed files with 116 additions and 13 deletions
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8
BTA_dome_modbus/client.c
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@@ -214,6 +214,7 @@ static int check_motor(SSL *ssl, int motno){
speed /= (double)N;
current /= (double)N;
}
DBG("found %d working motors, mean speed=%g, mean current=%g", N, speed, current);
if(status == MOT_OFF && CommonState.status != MOT_OFF){
*msg = MesgFault;
sprintf(msg+1, "Dome: All motors are Off!\n");
@@ -337,13 +338,13 @@ static int process_system(SSL *ssl){
}
if(check_motor(ssl, curMotNo)){
// TODO: check state for errors
if(++curMotNo == DomeSEW_N){ // set `struct SEWdata` parameters
if(curMotNo == indexSEWD){ // set `struct SEWdata` parameters
motor_state_t *st = &MotorState[curMotNo];
statusSEWD = st->status;
vel_SEWD = st->speed;
currentSEWD = st->current;
}
if(curMotNo >= MOTORS_AMOUNT) curMotNo = 0;
if(++curMotNo >= MOTORS_AMOUNT) curMotNo = 0;
}
chk_dome_speed(ssl);
return TRUE;
@@ -393,6 +394,9 @@ void clientproc(SSL_CTX *ctx, int fd){
LOGERR("Can't get SHM block");
ERRX("Can't get SHM block");
}
// set amount of working motors
DomeSEW_N = MOTORS_AMOUNT;
DBG("set DomeSEW_N = %d", DomeSEW_N);
while(isrunning){
if(!process_system(ssl)){
LOGERR("Motors error");