Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango

1 files changed, 12 insertions, 176 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 6e4624723..5f14a17a7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -10,8 +10,9 @@
 #include "../control/pidalgo.h"
 #include "PMR/Hardware/HardwareMotor.pb-c.h"
 #include "PMR/Hardware/HardwareMotorType.pb-c.h"
+
 #include "drivers/Motors/Motor.h"
-#include "Drivers/Danser_SSI/ssi_comm.h"
+#include "drivers/Danser_SSI/ssi_comm.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/Heater/Heater.h"
 ////////////////////////////////State machine operation////////////////////////////////////
@@ -31,70 +32,6 @@ typedef enum
 uint32_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {MOTOR_RDRIVING,MOTOR_DRYER_DRIVING,MOTOR_LDRIVING,MOTOR_WINDER,MOTOR_SCREW};
 uint32_t ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS};
 
-/********************************************************************************************
-* functions describes motor operation flow and movement state during profile execution
-* used to operate in runtime correct profileflow execution
-*********************************************************************************************/
-static ReturnCode EntryState(void *JobDetails);
-static ReturnCode PrepareState(void *JobDetails);
-static ReturnCode PreSegmentState(void *JobDetails);
-static ReturnCode SegmentState(void *JobDetails);
-static ReturnCode EndState(void *JobDetails);
-static ReturnCode ExitState(void *JobDetails);
-;
-
-/**********************************************************************
-* the array and enum of PrintingState_t below must be in sync order
-***********************************************************************/
-static ReturnCode (* state[])(void *JobDetails) = { EntryState, PrepareState, PreSegmentState,  SegmentState, EndState, ExitState};
-
-typedef enum
-{
-    Entry= 0,
-    Prepare,
-    PreSegment,
-    Segment,
-    End,
-    Exit
-} PrintingState_t;
-
-typedef struct
-{
-    PrintingState_t m_sourceState;
-    ReturnCode          m_returnCode;
-    PrintingState_t     m_destinationState;
-} Transition_t;
-
-//*************************************************************
-/* transitions from end state aren't needed */
-//*************************************************************
-#define NUM_OF_TRANSITION   17
-#define EXIT_STATE          Exit
-#define ENTRY_STATE         Entry
-/*************************************************************
- * table which describes fast motors transitions states
- * during p_profile / segments execution
- *************************************************************/
-static Transition_t stateTransitionTable[NUM_OF_TRANSITION] =
-{};
-/*    {Entry,         NextState,  HomingStart},
-    {Entry,         Repeat,     Entry},         //for homing of dispensers
-    {HomingStart,   NextState,  Start},
-    {HomingStart,   Repeat,     HomingStart},
-    {Start,         NextState,  Segment},
-    {Start,         Repeat,     Start},
-    {Segment,       Inter,      Intersegment},
-    {Segment,       Repeat,     Segment},
-    {Segment,       Home,       HomingEnd},
-    {Intersegment,  NextState,  Segment},
-    {Intersegment,  Repeat,     Intersegment},
-    {Intersegment,  Home,       HomingEnd},
-    {HomingEnd,     NextState,  End},
-    {HomingEnd,     Repeat,     HomingEnd},
-    {End,           NextState,  Entry},
-    {End,           Repeat,     Entry},
-    {Exit,          Stop,       Exit}           //for stoping the machine iteration in case of error
-};*/
 typedef struct
 {
     bool                m_isEnabled;
@@ -106,28 +43,11 @@ typedef struct
     bool                m_isReady;
     PID_Config_Params   m_params;
 }MotorControlConfig_t;
-/*typedef struct
-{
-    float epsilon;
-    float dt;
-    float MAX;
-    float MIN;
-    float Kp;
-    float Kd;
-    float Ki;
-}PID_Config_Params;
-#define epsilon 0.01
-#define dt 0.01 //100ms loop time
-#define MAX 4 //For Current Saturation
-#define MIN -4
-#define Kp 0.1
-#define Kd 0.01
-#define Ki 0.005
-*/
+
 MotorControlConfig_t MotorControlConfig[MAX_THREAD_MOTORS_NUM];
 uint32_t DeviceId2Motor[MAX_THREAD_MOTORS_NUM];
 ////////////////////////Slow Motor State////////////////////////////////////
-static PrintingState_t gPrintingState;
+
 ////////////////////////////////////////////////////////////////////////////
 
 uint32_t ThreadSpeedControlCBFunction(uint32_t deviceID, uint32_t ReadValue)
@@ -200,14 +120,6 @@ uint32_t ThreadControlCBFunction(uint32_t deviceID, uint32_t ReadValue)
 }
 
 //********************************************************************************************************************
-/********************************************************************************************************************
-*function describes entry point of motor in profile execution - accelerate from stop position
-*function described above used to operate motor operation flow and movement state during profile execution
-*********************************************************************************************************************/
-static ReturnCode EntryState(void *JobDetails)
-{
-    return NextState;
-}
 
 //********************************************************************************************************************
 #ifdef DEBUG_TEST_FUNCTIONS
@@ -217,7 +129,7 @@ uint32_t Debug_Get_Dancer_Read(uint32_t DancerId, uint32_t Parameter1, uint32_t
 }
 #endif
 //********************************************************************************************************************
-static ReturnCode PrepareState(void *JobDetails)
+ ReturnCode PrepareState(void *JobDetails)
 {
     int Motor_i;
     //start thread control for all motors
@@ -251,11 +163,11 @@ static ReturnCode PrepareState(void *JobDetails)
     }
 
     //set 3 dancers to the profile positions
-    return NextState;
+    return OK;
 }
 
 //********************************************************************************************************************
-static ReturnCode PreSegmentState(void *JobDetails)
+ReturnCode PreSegmentState(void *JobDetails)
 {
 
     TimerMotors_t Motor_i;
@@ -268,102 +180,27 @@ static ReturnCode PreSegmentState(void *JobDetails)
     //set speed for both rocker motors
     //wait for all motors to get to the required speed (set the target speed for the control to check)
     //call the job state machine when the thread system is ready
-    return NextState;
+    return OK;
 }
 
 //********************************************************************************************************************
-static ReturnCode SegmentState(void *JobDetails)
+ ReturnCode SegmentState(void *JobDetails)
 {
-    return Repeat;
+    return OK;
 }
 
 //********************************************************************************************************************
-static ReturnCode EndState(void *JobDetails)
+ ReturnCode EndState(void *JobDetails)
 {
-    return NextState;
-}
-//********************************************************************************************************************
-static ReturnCode ExitState(void *JobDetails)
-{
-    return Stop;
+    return OK;
 }
 
 
-//***********************************************************************************************************************
-//this function is responsible for operating and transitioning between the diffrent motor state executions of the profile
-//the lower managment level
-//***********************************************************************************************************************
-static PrintingState_t LookupTransitions(PrintingState_t state,ReturnCode returnCode)
-{
-    char str[80];
-    uint8_t len = 0;
-    uint8_t indexInTransitionTable;
-    for (indexInTransitionTable = 0; indexInTransitionTable < NUM_OF_TRANSITION; ++indexInTransitionTable)
-    {
-        if ((stateTransitionTable[indexInTransitionTable].m_sourceState == state) && (stateTransitionTable[indexInTransitionTable].m_returnCode == returnCode))
-        {
-            //len = usnprintf(str, 60, "\r\n  tick %d state %d return code %d",tick,state, returnCode );
-            //cb_push_back (str, len);
-
-            //in normal execution flow function should not arrive here
-            //in case it did the meaning is that the entery point was wrong and a bug should be corrected
-            return stateTransitionTable[indexInTransitionTable].m_destinationState;
-        }
-    }
-    //int tick = UsersysTickGet();
-    //len = usnprintf(str, 60, "\r\n  tick %d state %d return code %d",tick,state, returnCode );
-    //cb_push_back (str, len);
-
-    //in normal execution flow function should not arrive here
-    //in case it did the meaning is that the entery point was wrong and a bug should be corrected
-    len = usnprintf(str, 80, "Internal: invalid slow motor transition state %d return code %d",state, returnCode );
-
-    return EXIT_STATE;
-}
-//********************************************************************************
-//this function is used to manage and operate the motor managmant state mashine
-//the highest managment level
-//********************************************************************************
-bool ThreadPrintingIterate(void *JobDetails)
-{
-    uint32_t tick = 0;
-    char str[60];
-    uint8_t len = 0;
-    PrintingState_t keepstate  =  gPrintingState;
-    //
-    // Disable all interrupts.
-    //
-    ROM_IntMasterDisable();
-
-    ReturnCode (* state_fun)(void *JobDetails) = state[gPrintingState];
-    //if (_motorId == SCREW_MOTOR)
-    //    screw_movement[gPrintingState[_motorId]]++;
-    ReturnCode returnCode = state_fun(JobDetails);
-
-    gPrintingState = LookupTransitions(gPrintingState, returnCode);
-//    if (keepstate != gPrintingState){
-//    }
-
-    //
-    // Enable all interrupts.
-    //
-    ROM_IntMasterEnable();
-    return (gPrintingState != EXIT_STATE);
-}
-
-
-//********************************************************************************************************************
-
-void ThreadPrintingsInit(void)
-{
-//        gPrintingState = Start;
-}
 
 //********************************************************************************************************************
 
 void ThreadStartPrinting(void)
 {
-    gPrintingState = ENTRY_STATE;
     //PrintingIterate();
 }
 
@@ -372,6 +209,5 @@ void ThreadStartPrinting(void)
 
 void ThreadStopPrinting(void)
 {
-    gPrintingState = EXIT_STATE;
     //PrintingIterate();
 }