update I2C

1 files changed, 10 insertions, 29 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 56e1bf844..92bfa9c92 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -22,7 +22,6 @@
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/Heater/Heater.h"
 #include "drivers/Motors/Motor.h"
-#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "modules/heaters/heaters.h"
 
 ////////////////////////////////State machine operation////////////////////////////////////
@@ -38,7 +37,7 @@ uint32_t    ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF};
 uint32_t    SpeedControlId=0xFF;
 
 int OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM] = {0};
-uint32_t JobCounter = 0;
+
 typedef struct
 {
     bool                m_isEnabled;
@@ -67,8 +66,6 @@ ProcessedLengthFunc ProcessedLengthFuncPtr = NULL;
 void ThreadSegmentEnded(void);
 void ThreadInterSegmentEnded(void);
 void ThreadDistanceToSpoolEnded(void);
-
-double KeepNormalizedError = 0;
 ////////////////////////Slow Motor State////////////////////////////////////
 //uint32_t ThreadPreSegmentState(void *JobDetails);
 
@@ -168,7 +165,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
 #warning control disabled
         CurrentProcessedLength+=length;
-
+#warning control disabled
     PosDif[MotorDataIndex] = CurrentPosition;
     //PosDif[MotorDataIndex] = positionDiff;
     MotorSentData[MotorDataIndex] = length;
@@ -179,9 +176,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     pooler_counter++;
     if (pooler_counter%10 == 0)
     {
-        //SendJobProgress(CurrentProcessedLength/CurrentRequestedLength,CurrentSegmentId,false);
-        SendJobProgress(/*KeepNormalizedError*/MotorControlConfig[index].m_calculatedError,CurrentSegmentId,false);
-
+        SendJobProgress(CurrentProcessedLength/CurrentRequestedLength,CurrentSegmentId,false);
     }
     if (pooler_counter>=100)
     {
@@ -192,6 +187,8 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     }
     if (CurrentProcessedLength>=CurrentRequestedLength )
     {
+        SendJobProgress(100,0,true);
+		#warning handle job wit several segments!!!
         // segment/intersegment/distance to spool finished
         if (ProcessedLengthFuncPtr)
             ProcessedLengthFuncPtr();
@@ -283,14 +280,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     {
         DancerId = ThreadMotorIdToDancerId[index];
         if (ReadValue < 10)
-            return OK;
+            return;
         TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint;
-        if (index == POOLER_MOTOR)
-        {
-			//pooler dancer is right sided: data is opposite
+        if (index == POOLER_MOTOR) //pooler dancer is right sided: data is opposite
             TranslatedReadValue = (-1*TranslatedReadValue);
-            JobCounter++;
-        }
         //TranslatedReadValue = 0;//test
         MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue);
         MotorSamplePointer[index]++;
@@ -298,20 +291,12 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         for (i=0;i<MotorsControl[index].pvinputfilterfactormode;i++)
             avreageSampleValue += MotorSamples[index][i];
         avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode;
-        //Stop Execution if the dancer moves too much
-#warning need to disable this in the first second of the job execution
-        if ((abs(avreageSampleValue)> DancerStopActivityLimit[index])&&(JobCounter > eOneSecond))
-        {
-            EndState(CurrentJob);
-        }
         NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
         MotorControlConfig[index].m_mesuredParam = NormalizedError;
         MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam,
                                                                               &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
-        if (index != FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
+        if (index == FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
             MotorControlConfig[index].m_calculatedError = (-1*MotorControlConfig[index].m_calculatedError);
-        else
-            KeepNormalizedError = NormalizedError;
         calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
         if (abs(calculated_speed-CurrentControlledSpeed[index])>5)
         {
@@ -324,7 +309,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         pooler_counter++;
         if (pooler_counter>=1000)
         {
-            //float error_integered = MotorControlConfig[index].m_calculatedError*1000;
+            float error_integered = MotorControlConfig[index].m_calculatedError*1000;
             /*{
   "HeaterGroupId": 0,
   "Zone1Temp": 80,
@@ -339,7 +324,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 }*/
             //HeatingTestSendResonse(0, false,true,true, MotorDriverRequest[22].Speed,MotorDriverRequest[18].Speed,MotorDriverRequest[15].Speed,MotorDriverRequest[3].Speed, "MotorSpeed");
 
-            HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/_speed,OriginalMotorSpd_2PPS[index]/*(int)error_integered*/,MotorControlConfig[index].m_calculatedError,ReadValue, "FeederSpeed");
+            HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/_speed,OriginalMotorSpd_2PPS[index]/*(int)error_integered*/,calculated_speed,ReadValue, "FeederSpeed");
                 pooler_counter = 0;
         }
     }
@@ -365,8 +350,6 @@ bool InitialProcess = false;
 {
     int Motor_i, HW_Motor_Id, Pid_Id;
     CurrentSegmentId = 0;
-
-    JobCounter = 0;
     //start thread control for all motors
     for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
     {
@@ -492,7 +475,6 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
     MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 10);
 //#warning rocker disabled
 
-//    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 0, GPI_LS_RLOADMOTOR_UP, EndState); //TODO
 
     // activate control fr all motors
     //set speed for both rocker motors
@@ -504,7 +486,6 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
     }
     else
     {
-        ThreadUpdateProcessLength (0,(void *)NULL);
         PreSegmentReady(Module_Thread,ModuleDone);
         InitialProcess = false;
     }