Changeset 1180 for applications/pmsm

Timestamp:

09/02/10 23:21:51 (14 years ago)

Author:

smidl

Message:

remove printouts

Location:

applications/pmsm/simulator_zdenek/ekf_example

Files:

• ekf_obj.cpp (modified) (3 diffs)
• matrix_vs.cpp (modified) (8 diffs)

applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp

@@ -495 +495 @@
         //bierman(int *difz, int *xp, int *U, int *D, int *R, unsigned int dimy, unsigned int dimx );
         int dR[2];dR[0]=R[0];dR[1]=R[3];
-        bierman_fast(difz,x_est,Uf,Df,dR,2,4);
+        bierman(difz,x_est,Uf,Df,dR,2,4);
         
         // navrat estimovanych hodnot regulatoru
@@ -550 +550 @@
         ///// TEST thorton vs. thorton_fast
         
-        int Ut[16]={0x7FFF, 100, 200, 300, 0, 0x7FFF, 500, 600, 0,0,0x7FFF, 800, 0,0,0, 0x7FFF};
+/*      int Ut[16]={0x7FFF, 100, 200, 300, 0, 0x7FFF, 500, 600, 0,0,0x7FFF, 800, 0,0,0, 0x7FFF};
         int Dt[4]={100,200,300,400};
         int PSIu[16] = {100, 200,300, 400 , 500, 600,700,800, 900,1000,1100,1200, 1300,1400,1500,1600};
@@ -560 +560 @@
         int PSIu2[16] = {100, 200,300, 400 , 500, 600,700,800, 900,1000,1100,1200, 1300,1400,1500,1600};
         thorton_fast(Ut2,Dt2,PSIu2,Q,G,Dold,4);
-        cout<< Q<<endl;
-}
-
+        cout<< Q<<endl;*/
+}
+

applications/pmsm/simulator_zdenek/ekf_example/matrix_vs.cpp

@@ -88 +88 @@
         for (j=0;j<rows; j++) {
             sigma += (((long)PSIU[i*rows+j]*PSIU[i*rows+j])>>15)*(Dold[i]);
-                        printf("-- %d,%d --", PSIU[i*rows+j], Dold[i]);
                 }
                 sigma += Q[i*rows+i];
         for (j=i+1;j<rows; j++) {
             sigma += (((long)G[i*rows+j]*G[i*rows+j])>>13)*Q[j*rows+j];
-                        printf("-- %d,%d --", G[i*rows+j], Q[j*rows+j]);
                 }
-        printf("%d\n",sigma);
                 
         *(D+i)=sigma>>15;
@@ -110 +107 @@
                 sigma += ((((long)PSIU[i*rows+k])*PSIU[j*rows+k])>>15)*Dold[k];
                    }
-            printf("%d\n",sigma);
                         for (k=0;k<rows;k++) {
                 sigma += ((((long)G[i*rows+k])*G[j*rows+k])>>13)*Q[k*rows+k];
             }
-            printf("%d\n",sigma);
                         long z=sigma/D[i]; // shift by 15
             if (z>32767) z=32767;
@@ -128 +123 @@
                 PSIU[j*rows+k] -= ((long)U[j*rows+i]*PSIU[i*rows+k])>>15;
             }
-            for(int x=0;x<16;x++) printf("%d,", PSIU[x]);
-                        printf("\n");
                         
             for (k=0;k<rows;k++) {
                 G[j*rows+k] -=  ((long)U[j*rows+i]*G[i*rows+k])>>15;
             }
-            for(int x=0;x<16;x++) printf("%d,", G[x]);
-                        printf("\n");
                         
             /*                  printf("end\n");
@@ -231 +222 @@
            k<rows; k++, PSIU_ik++) {//Dold_i=
             sigma += (((long)(*PSIU_ik)**PSIU_ik)>>15)*(*Dold_i);
-                        printf("-- %d,%d --", *PSIU_ik, *Dold_i);
                 }
                 sigma += *(Q+i+irows);
         for (j=i+1, G_ik=G+irows+i+1; j<rows; j++,G_ik++) {
             sigma += (((long)(*G_ik)**G_ik)>>13)**(Q+j+j*rows);
-                        printf("++ %d,%d ++", *G_ik,  *(Q+j+j*rows));
-                        
-        }
-        printf("%d\n",sigma);
+                        
+        }
                 
         *D_i=sigma>>15;
@@ -254 +242 @@
                 sigma += ((((long)*PSIU_ik)**PSIU_jk)>>15)**Dold_k;
             }
-            printf("%d\n",sigma);
                         
             for (k=i,G_ik=G+irows+i,G_jk=G+jrows+i,Q_kk=Q+k*rows+k;
@@ -260 +247 @@
                 sigma += ((((long)*G_ik)**G_jk)>>13)**Q_kk;
             }
-            printf("%d\n",sigma);
                         
                         long z=sigma/(*D_i); // shift by 15
@@ -274 +260 @@
                 *PSIU_jk -= ((long)*U_ji**PSIU_ik)>>15;
             }
-            for(int x=0;x<16;x++) printf("%d,", PSIU[x]);
-                        printf("\n");
                         
             for (k=0,G_jk=G+jrows,G_ik=G+irows;
@@ -281 +265 @@
                 *G_jk -=  ((long)*U_ji**G_ik)>>15;
             }
-            for(int x=0;x<16;x++) printf("%d,", G[x]);
-                        printf("\n");
                         
         }