Initial Motors control testing

1 files changed, 14 insertions, 27 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index d2675452c..c737b9ea8 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -8,6 +8,7 @@
 #include "PMR/Hardware/HardwareDancer.pb-c.h"
 #include "PMR/Hardware/HardwareDancerType.pb-c.h"
 #include "PMR/Hardware/HardwareWinder.pb-c.h"
+#include "PMR/Hardware/HardwarePidControl.pb-c.h"
 #include "PMR/Printing/JobSpool.pb-c.h"
 #include "PMR/Printing/JobSpoolType.pb-c.h"
 
@@ -17,23 +18,6 @@
 
 typedef struct
 {
-  HardwareMotorType id;
-  uint32_t minfreq;
-  uint32_t maxfreq;
-  uint32_t minmicrostep;
-  uint32_t maxmicrostep;
-  double linearratio;
-  uint32_t medianposition;
-  double correctiongain;
-  double ratio2dryerspeed;
-  double kp;
-  double ki;
-  double kd;
-  double changeslope;
-  double hightimeoutusec;
-}MotorConfigStruc;
-typedef struct
-{
     uint32_t startoffsetpulses;
     uint32_t spoolbackingrate;
     uint32_t segmentoffsetpulses;// the spool winding initial length in mm
@@ -43,14 +27,6 @@ typedef struct
     double diameter;
 }InternalWinderConfigStruc;
 
-typedef struct
-{
-    bool fixorgradual;
-    double k;
-    double x;
-    int32_t pulsepermmspring;
-    int id;  //HardwareDancerType
-}DancerConfigStruc;
 
 typedef enum threadMotorsEnum
 {
@@ -62,17 +38,28 @@ typedef enum threadMotorsEnum
     MAX_THREAD_MOTORS_NUM
 }threadMotorsEnum;
 #define MAX_THREAD_FEED_MOTORS WINDER_MOTOR+1
+#define MAX_SYSTEM_DANCERS HARDWARE_DANCER_TYPE__RightDancer+1
+
 extern TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM];
 extern DANCER_ENUM ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM];
+extern HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM];
+
+extern HardwareMotor                MotorsCfg[NUM_OF_MOTORS];
+extern HardwarePidControl           MotorsControl[MAX_THREAD_MOTORS_NUM];
+extern InternalWinderConfigStruc    InternalWinderCfg;
+extern HardwareDancer               DancersCfg[MAX_SYSTEM_DANCERS];
 
-extern MotorConfigStruc  MotorsCfg[MAX_THREAD_MOTORS_NUM];
-extern InternalWinderConfigStruc InternalWinderCfg;
+#define MAX_CONTROL_SAMPLES 6
+extern uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
+extern int MotorSamplePointer[MAX_THREAD_MOTORS_NUM];
+extern double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM];
 
 
 uint32_t InternalWinderConfigMessage(HardwareWinder* request);
 uint32_t MotorsConfigMessage(HardwareMotor * request);
 uint32_t InternalWindingConfigMessage(JobSpool* request);
 uint32_t ThreadInitialTestStub(HardwareMotor * request);
+uint32_t MotorPidRequestMessage(HardwarePidControl* request);
 
 uint32_t DancerConfigMessage(HardwareDancer * request);